vrpn 07.35
Virtual Reality Peripheral Network
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vrpn_Tracker Class Reference

#include <vrpn_Tracker.h>

Inheritance diagram for vrpn_Tracker:
Collaboration diagram for vrpn_Tracker:

Public Member Functions

 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)
 
- Public Member Functions inherited from vrpn_BaseClass
 vrpn_BaseClass (const char *name, vrpn_Connection *c=NULL)
 Names the device and assigns or opens connection, calls registration methods.
 
virtual ~vrpn_BaseClass ()
 
virtual void mainloop ()=0
 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().
 
- Public Member Functions inherited from vrpn_BaseClassUnique
 vrpn_BaseClassUnique ()
 
virtual ~vrpn_BaseClassUnique ()
 Unregister all of the message handlers that were to be autodeleted.
 
vrpn_ConnectionconnectionPtr ()
 Returns a pointer to the connection this object is using.
 

Static Public Member Functions

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)
 

Protected Member Functions

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)
 
- Protected Member Functions inherited from vrpn_BaseClass
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.
 
- Protected Member Functions inherited from vrpn_BaseClassUnique
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()
 

Protected Attributes

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_Posunit2sensor
 
vrpn_Tracker_Quatunit2sensor_quat
 
unsigned num_unit2sensors
 
vrpn_float64 workspace_min [3]
 
vrpn_float64 workspace_max [3]
 
int status
 
- Protected Attributes inherited from vrpn_BaseClassUnique
vrpn_Connectiond_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.
 

Additional Inherited Members

- Public Attributes inherited from vrpn_BaseClassUnique
bool shutup
 
- Static Protected Member Functions inherited from vrpn_BaseClassUnique
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.
 

Detailed Description

Definition at line 49 of file vrpn_Tracker.h.

Constructor & Destructor Documentation

◆ vrpn_Tracker()

vrpn_Tracker::vrpn_Tracker ( const char * name,
vrpn_Connection * c = NULL,
const char * tracker_cfg_file_name = NULL )

◆ ~vrpn_Tracker()

vrpn_Tracker::~vrpn_Tracker ( void )
virtual

Definition at line 170 of file vrpn_Tracker.C.

References num_unit2sensors, unit2sensor, and unit2sensor_quat.

Member Function Documentation

◆ encode_acc_to()

int vrpn_Tracker::encode_acc_to ( char * buf)
protectedvirtual

◆ encode_to()

◆ encode_tracker2room_to()

int vrpn_Tracker::encode_tracker2room_to ( char * buf)
protectedvirtual

Encodes the "Tracker to Room" transformation into the buffer specified.

Returns the number of bytes encoded into the buffer. Assumes that the buffer can hold all of the data. Encodes the position, then the quaternion.

Definition at line 477 of file vrpn_Tracker.C.

References tracker2room, tracker2room_quat, and vrpn_buffer().

Referenced by handle_t2r_request().

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◆ encode_unit2sensor_to()

int vrpn_Tracker::encode_unit2sensor_to ( char * buf)
protectedvirtual

Encodes the "Unit to Sensor" transformation into the buffer specified.

Returns the number of bytes encoded into the buffer. Assumes that the buffer can hold all of the data. Encodes the position, then the quaternion.

WARNING: make sure sensor is set to desired value before encoding this message.

Definition at line 506 of file vrpn_Tracker.C.

References d_sensor, unit2sensor, unit2sensor_quat, and vrpn_buffer().

Referenced by handle_u2s_request().

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◆ encode_vel_to()

int vrpn_Tracker::encode_vel_to ( char * buf)
protectedvirtual

◆ encode_workspace_to()

int vrpn_Tracker::encode_workspace_to ( char * buf)
protectedvirtual

Definition at line 531 of file vrpn_Tracker.C.

References vrpn_buffer(), workspace_max, and workspace_min.

Referenced by handle_workspace_request().

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◆ ensure_enough_unit2sensors()

bool vrpn_Tracker::ensure_enough_unit2sensors ( unsigned num)
protected

Definition at line 193 of file vrpn_Tracker.C.

References num_unit2sensors, unit2sensor, and unit2sensor_quat.

Referenced by get_local_u2s(), handle_u2s_request(), and read_config_file().

◆ get_local_t2r()

void vrpn_Tracker::get_local_t2r ( vrpn_float64 * vec,
vrpn_float64 * quat )

Definition at line 365 of file vrpn_Tracker.C.

References tracker2room, and tracker2room_quat.

◆ get_local_u2s()

void vrpn_Tracker::get_local_u2s ( vrpn_int32 sensor,
vrpn_float64 * vec,
vrpn_float64 * quat )

Definition at line 375 of file vrpn_Tracker.C.

References ensure_enough_unit2sensors(), unit2sensor, and unit2sensor_quat.

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◆ handle_t2r_request()

int vrpn_Tracker::handle_t2r_request ( void * userdata,
vrpn_HANDLERPARAM p )
static

◆ handle_u2s_request()

◆ handle_workspace_request()

int vrpn_Tracker::handle_workspace_request ( void * userdata,
vrpn_HANDLERPARAM p )
static

◆ print_latest_report()

◆ read_config_file()

int vrpn_Tracker::read_config_file ( FILE * config_file,
const char * tracker_name )

Definition at line 251 of file vrpn_Tracker.C.

References ensure_enough_unit2sensors(), num_sensors, tracker2room, tracker2room_quat, unit2sensor, unit2sensor_quat, workspace_max, and workspace_min.

Referenced by vrpn_Tracker().

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◆ register_server_handlers()

◆ register_types()

int vrpn_Tracker::register_types ( void )
protectedvirtual

Register the types of messages this device sends/receives. Return 0 on success, -1 on fail.

Implements vrpn_BaseClass.

Definition at line 138 of file vrpn_Tracker.C.

References accel_m_id, vrpn_BaseClassUnique::d_connection, position_m_id, vrpn_Connection::register_message_type(), request_t2r_m_id, request_u2s_m_id, request_workspace_m_id, reset_origin_m_id, tracker2room_m_id, unit2sensor_m_id, update_rate_id, velocity_m_id, and workspace_m_id.

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Member Data Documentation

◆ acc

◆ acc_quat

◆ acc_quat_dt

vrpn_float64 vrpn_Tracker::acc_quat_dt
protected

◆ accel_m_id

◆ connection_dropped_m_id

vrpn_int32 vrpn_Tracker::connection_dropped_m_id
protected

Definition at line 90 of file vrpn_Tracker.h.

◆ d_quat

vrpn_float64 vrpn_Tracker::d_quat[4]
protected

Definition at line 95 of file vrpn_Tracker.h.

Referenced by vrpn_Tracker_WiimoteHead::_convert_pose_to_tracker(), vrpn_Tracker_AnalogFly::convert_matrix_to_tracker(), vrpn_Tracker_ButtonFly::convert_matrix_to_tracker(), vrpn_3DMicroscribe::ConvertOriToQuat(), encode_to(), vrpn_Tracker_TrivisioColibri::get_report(), vrpn_Tracker_3Space::get_report(), vrpn_Tracker_Flock::get_report(), vrpn_Tracker_3DMouse::get_report(), vrpn_Tracker_Fastrak::get_report(), vrpn_Tracker_InterSense::get_report(), vrpn_Tracker_Isotrak::get_report(), vrpn_Tracker_Liberty::get_report(), vrpn_Tracker_LibertyHS::get_report(), vrpn_Tracker_NDI_Polaris::get_report(), vrpn_Poser_Analog::handle_change_message(), vrpn_Tracker_Spin::mainloop(), vrpn_Tracker_GameTrak::mainloop(), vrpn_Tracker_SpacePoint::on_data_received(), vrpn_Tracker_Wintracker::on_data_received(), vrpn_Tracker_OSVRHackerDevKit::on_data_received(), print_latest_report(), vrpn_Tracker_Crossbow::process_packet(), vrpn_Tracker_PhaseSpace::report_marker(), vrpn_Tracker_Server::report_pose(), vrpn_Tracker_Server::report_pose_acceleration(), vrpn_Tracker_Server::report_pose_velocity(), vrpn_Poser_Tek4662::reset(), vrpn_Poser_Tek4662::run(), vrpn_Tracker_PhaseSpace::set_pose(), vrpn_Tracker_OSVRHackerDevKit::shared_init(), vrpn_Tracker_JoyFly::update(), vrpn_IMU_SimpleCombiner::update_matrix_based_on_values(), vrpn_IMU_SimpleCombiner::vrpn_IMU_SimpleCombiner(), vrpn_Tracker(), vrpn_Tracker_SpacePoint::vrpn_Tracker_SpacePoint(), and vrpn_Tracker_Wintracker::vrpn_Tracker_Wintracker().

◆ d_sensor

◆ frame_count

vrpn_int32 vrpn_Tracker::frame_count
protected

Definition at line 101 of file vrpn_Tracker.h.

Referenced by vrpn_Tracker_LibertyHS::get_report(), and print_latest_report().

◆ num_sensors

◆ num_unit2sensors

unsigned vrpn_Tracker::num_unit2sensors
protected

Definition at line 120 of file vrpn_Tracker.h.

Referenced by ensure_enough_unit2sensors(), and ~vrpn_Tracker().

◆ pos

◆ position_m_id

◆ request_t2r_m_id

vrpn_int32 vrpn_Tracker::request_t2r_m_id
protected

◆ request_u2s_m_id

vrpn_int32 vrpn_Tracker::request_u2s_m_id
protected

◆ request_workspace_m_id

vrpn_int32 vrpn_Tracker::request_workspace_m_id
protected

◆ reset_origin_m_id

vrpn_int32 vrpn_Tracker::reset_origin_m_id
protected

Definition at line 91 of file vrpn_Tracker.h.

Referenced by register_types(), and vrpn_Tracker_Remote::reset_origin().

◆ status

int vrpn_Tracker::status
protected

Definition at line 129 of file vrpn_Tracker.h.

Referenced by vrpn_Tracker_Crossbow::get_report(), vrpn_3DMicroscribe::get_report(), vrpn_Tracker_3Space::get_report(), vrpn_Tracker_Dyna::get_report(), vrpn_Tracker_Flock::get_report(), vrpn_Tracker_3DMouse::get_report(), vrpn_Tracker_Fastrak::get_report(), vrpn_Tracker_GPS::get_report(), vrpn_Tracker_InterSense::get_report(), vrpn_Tracker_Isotrak::get_report(), vrpn_Tracker_Liberty::get_report(), vrpn_Tracker_LibertyHS::get_report(), vrpn_Tracker_Flock::getMeasurementRate(), vrpn_3DMicroscribe::mainloop(), vrpn_Tracker_Flock_Parallel::mainloop(), vrpn_Tracker_Flock_Parallel_Slave::mainloop(), vrpn_Poser_Tek4662::mainloop(), vrpn_Tracker_Serial::mainloop(), vrpn_Tracker_USB::mainloop(), vrpn_Tracker_3DMouse::mainloop(), vrpn_Tracker_InterSense::mainloop(), vrpn_Tracker_JoyFly::mainloop(), vrpn_Tracker_3Space::reset(), vrpn_Tracker_Dyna::reset(), vrpn_Tracker_Flock::reset(), vrpn_Tracker_Flock_Parallel_Slave::reset(), vrpn_Tracker_3DMouse::reset(), vrpn_Tracker_Crossbow::reset(), vrpn_Tracker_Fastrak::reset(), vrpn_Tracker_GPS::reset(), vrpn_Tracker_InterSense::reset(), vrpn_Tracker_Isotrak::reset(), vrpn_Tracker_Liberty::reset(), vrpn_Tracker_LibertyHS::reset(), vrpn_3DMicroscribe::reset(), vrpn_Poser_Tek4662::reset(), vrpn_Poser_Tek4662::run(), vrpn_Tracker_3DMouse::set_filtering_count(), vrpn_Tracker_Fastrak::set_sensor_output_format(), vrpn_Tracker_Isotrak::set_sensor_output_format(), vrpn_Tracker_Liberty::set_sensor_output_format(), vrpn_Tracker_LibertyHS::set_sensor_output_format(), vrpn_Tracker_JoyFly::update(), vrpn_3DMicroscribe::vrpn_3DMicroscribe(), vrpn_Poser_Tek4662::vrpn_Poser_Tek4662(), vrpn_Tracker_InterSense::vrpn_Tracker_InterSense(), vrpn_Tracker_MotionNode::vrpn_Tracker_MotionNode(), vrpn_Tracker_Serial::vrpn_Tracker_Serial(), vrpn_Tracker_TrivisioColibri::vrpn_Tracker_TrivisioColibri(), vrpn_Tracker_USB::vrpn_Tracker_USB(), vrpn_Tracker_Flock::~vrpn_Tracker_Flock(), and vrpn_Tracker_Flock_Parallel_Slave::~vrpn_Tracker_Flock_Parallel_Slave().

◆ timestamp

struct timeval vrpn_Tracker::timestamp
protected

Definition at line 100 of file vrpn_Tracker.h.

Referenced by vrpn_Tracker_TrivisioColibri::get_report(), vrpn_Tracker_3Space::get_report(), vrpn_Tracker_Dyna::get_report(), vrpn_Tracker_Flock::get_report(), vrpn_Tracker_Fastrak::get_report(), vrpn_Tracker_GPS::get_report(), vrpn_Tracker_InterSense::get_report(), vrpn_Tracker_Isotrak::get_report(), vrpn_Tracker_Liberty::get_report(), vrpn_Tracker_LibertyHS::get_report(), vrpn_Tracker_NDI_Polaris::get_report(), vrpn_Tracker_PhaseSpace::get_report(), handle_t2r_request(), handle_u2s_request(), handle_workspace_request(), vrpn_Tracker_Flock_Parallel_Slave::mainloop(), vrpn_Tracker_Serial::mainloop(), vrpn_Tracker_USB::mainloop(), vrpn_Tracker_NULL::mainloop(), vrpn_Tracker_Spin::mainloop(), vrpn_Tracker_AnalogFly::mainloop(), vrpn_Tracker_ButtonFly::mainloop(), vrpn_Tracker_GameTrak::mainloop(), vrpn_Tracker_JoyFly::mainloop(), vrpn_Tracker_SpacePoint::on_data_received(), vrpn_Tracker_Wintracker::on_data_received(), vrpn_Tracker_OSVRHackerDevKit::on_data_received(), print_latest_report(), vrpn_Tracker_Crossbow::process_packet(), vrpn_Tracker_WiimoteHead::report(), vrpn_3DMicroscribe::report_changes(), vrpn_Tracker_Server::report_pose(), vrpn_Tracker_Server::report_pose_acceleration(), vrpn_Tracker_Server::report_pose_velocity(), vrpn_Tracker_Remote::request_t2r_xform(), vrpn_Tracker_Remote::request_u2s_xform(), vrpn_Tracker_Remote::request_workspace(), vrpn_Tracker_3Space::reset(), vrpn_Tracker_Dyna::reset(), vrpn_Tracker_Flock::reset(), vrpn_Tracker_Flock_Parallel_Slave::reset(), vrpn_Tracker_Crossbow::reset(), vrpn_Tracker_Fastrak::reset(), vrpn_Tracker_InterSense::reset(), vrpn_Tracker_Isotrak::reset(), vrpn_Poser_Tek4662::reset(), vrpn_Tracker_Remote::reset_origin(), vrpn_Poser_Tek4662::run(), vrpn_Tracker_Crossbow::send_report(), vrpn_Tracker_TrivisioColibri::send_report(), vrpn_Tracker_Serial::send_report(), vrpn_Tracker_USB::send_report(), vrpn_Tracker_InterSense::send_report(), vrpn_Tracker_NDI_Polaris::send_report(), vrpn_Tracker_PhaseSpace::send_report(), vrpn_Tracker_InterSense::set_sensor_output_format(), vrpn_Tracker_Remote::set_update_rate(), vrpn_IMU_SimpleCombiner::vrpn_IMU_SimpleCombiner(), vrpn_Poser_Tek4662::vrpn_Poser_Tek4662(), vrpn_Tracker(), vrpn_Tracker_AnalogFly::vrpn_Tracker_AnalogFly(), vrpn_Tracker_FilterOneEuro::vrpn_Tracker_FilterOneEuro(), vrpn_Tracker_InterSense::vrpn_Tracker_InterSense(), vrpn_Tracker_Remote::vrpn_Tracker_Remote(), vrpn_Tracker_Serial::vrpn_Tracker_Serial(), and vrpn_Tracker_USB::vrpn_Tracker_USB().

◆ tracker2room

vrpn_float64 vrpn_Tracker::tracker2room[3]
protected

◆ tracker2room_m_id

vrpn_int32 vrpn_Tracker::tracker2room_m_id
protected

◆ tracker2room_quat

vrpn_float64 vrpn_Tracker::tracker2room_quat[4]
protected

◆ unit2sensor

vrpn_Tracker_Pos* vrpn_Tracker::unit2sensor
protected

◆ unit2sensor_m_id

vrpn_int32 vrpn_Tracker::unit2sensor_m_id
protected

◆ unit2sensor_quat

vrpn_Tracker_Quat* vrpn_Tracker::unit2sensor_quat
protected

◆ update_rate_id

vrpn_int32 vrpn_Tracker::update_rate_id
protected

◆ vel

◆ vel_quat

◆ vel_quat_dt

◆ velocity_m_id

◆ watchdog_timestamp

◆ workspace_m_id

vrpn_int32 vrpn_Tracker::workspace_m_id
protected

◆ workspace_max

vrpn_float64 vrpn_Tracker::workspace_max[3]
protected

Definition at line 127 of file vrpn_Tracker.h.

Referenced by encode_workspace_to(), read_config_file(), and vrpn_Tracker().

◆ workspace_min

vrpn_float64 vrpn_Tracker::workspace_min[3]
protected

Definition at line 127 of file vrpn_Tracker.h.

Referenced by encode_workspace_to(), read_config_file(), and vrpn_Tracker().


The documentation for this class was generated from the following files: