vrpn 07.35
Virtual Reality Peripheral Network
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vrpn_IMU_SimpleCombiner Class Reference

This class will turn set of two or three analog devices into a tracker by. More...

#include <vrpn_Tracker_IMU.h>

Inheritance diagram for vrpn_IMU_SimpleCombiner:
Collaboration diagram for vrpn_IMU_SimpleCombiner:

Public Member Functions

VRPN_API vrpn_IMU_SimpleCombiner (const char *name, vrpn_Connection *trackercon, vrpn_Tracker_IMU_Params *params, float update_rate, bool report_changes=VRPN_FALSE)
 
virtual VRPN_API ~vrpn_IMU_SimpleCombiner (void)
 
virtual VRPN_API 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().
 
- Public Member Functions inherited from vrpn_Tracker
 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 ()
 
- 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.
 

Protected Member Functions

void update_matrix_based_on_values (double time_interval)
 
int setup_vector (vrpn_IMU_Vector *vector, vrpn_ANALOGCHANGEHANDLER f)
 
int teardown_vector (vrpn_IMU_Vector *vector, vrpn_ANALOGCHANGEHANDLER f)
 
- Protected Member Functions inherited from vrpn_Tracker
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()
 

Static Protected Member Functions

static void VRPN_CALLBACK handle_analog_update (void *userdata, const vrpn_ANALOGCB info)
 
- 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.
 

Protected Attributes

double d_update_interval
 
struct timeval d_prevtime
 
bool d_report_changes
 
vrpn_IMU_Vector d_acceleration
 
vrpn_IMU_Vector d_rotational_vel
 
vrpn_IMU_Vector d_magnetometer
 
double d_gravity_restore_rate
 
double d_north_restore_rate
 
struct timeval d_prev_update_time
 
- Protected Attributes inherited from vrpn_Tracker
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

- Static Public Member Functions inherited from vrpn_Tracker
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 inherited from vrpn_BaseClassUnique
bool shutup
 

Detailed Description

This class will turn set of two or three analog devices into a tracker by.

Definition at line 131 of file vrpn_Tracker_IMU.h.

Constructor & Destructor Documentation

◆ vrpn_IMU_SimpleCombiner()

◆ ~vrpn_IMU_SimpleCombiner()

vrpn_IMU_SimpleCombiner::~vrpn_IMU_SimpleCombiner ( void )
virtual

Definition at line 279 of file vrpn_Tracker_IMU.C.

References d_acceleration, d_magnetometer, d_rotational_vel, handle_analog_update(), and teardown_vector().

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Member Function Documentation

◆ handle_analog_update()

◆ mainloop()

void vrpn_IMU_SimpleCombiner::mainloop ( )
virtual

◆ setup_vector()

int vrpn_IMU_SimpleCombiner::setup_vector ( vrpn_IMU_Vector * vector,
vrpn_ANALOGCHANGEHANDLER f )
protected

◆ teardown_vector()

int vrpn_IMU_SimpleCombiner::teardown_vector ( vrpn_IMU_Vector * vector,
vrpn_ANALOGCHANGEHANDLER f )
protected

Definition at line 348 of file vrpn_Tracker_IMU.C.

References vrpn_IMU_Vector::ana, and vrpn_Analog_Remote::unregister_change_handler().

Referenced by ~vrpn_IMU_SimpleCombiner().

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◆ update_matrix_based_on_values()

void vrpn_IMU_SimpleCombiner::update_matrix_based_on_values ( double time_interval)
protected

Member Data Documentation

◆ d_acceleration

vrpn_IMU_Vector vrpn_IMU_SimpleCombiner::d_acceleration
protected

◆ d_gravity_restore_rate

double vrpn_IMU_SimpleCombiner::d_gravity_restore_rate
protected

Definition at line 150 of file vrpn_Tracker_IMU.h.

Referenced by update_matrix_based_on_values(), and vrpn_IMU_SimpleCombiner().

◆ d_magnetometer

vrpn_IMU_Vector vrpn_IMU_SimpleCombiner::d_magnetometer
protected

◆ d_north_restore_rate

double vrpn_IMU_SimpleCombiner::d_north_restore_rate
protected

Definition at line 151 of file vrpn_Tracker_IMU.h.

Referenced by update_matrix_based_on_values(), and vrpn_IMU_SimpleCombiner().

◆ d_prev_update_time

struct timeval vrpn_IMU_SimpleCombiner::d_prev_update_time
protected

Definition at line 153 of file vrpn_Tracker_IMU.h.

Referenced by mainloop(), and vrpn_IMU_SimpleCombiner().

◆ d_prevtime

struct timeval vrpn_IMU_SimpleCombiner::d_prevtime
protected

Definition at line 143 of file vrpn_Tracker_IMU.h.

Referenced by mainloop(), and vrpn_IMU_SimpleCombiner().

◆ d_report_changes

bool vrpn_IMU_SimpleCombiner::d_report_changes
protected

Definition at line 144 of file vrpn_Tracker_IMU.h.

◆ d_rotational_vel

vrpn_IMU_Vector vrpn_IMU_SimpleCombiner::d_rotational_vel
protected

◆ d_update_interval

double vrpn_IMU_SimpleCombiner::d_update_interval
protected

Definition at line 142 of file vrpn_Tracker_IMU.h.

Referenced by mainloop().


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