vrpn  07.33
Virtual Reality Peripheral Network
vrpn_Tracker_PhaseSpace Class Reference

#include <vrpn_Tracker_PhaseSpace.h>

Inheritance diagram for vrpn_Tracker_PhaseSpace:
Collaboration diagram for vrpn_Tracker_PhaseSpace:

Public Member Functions

 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(). More...
 
bool addMarker (int sensor, int led_id)
 
bool addRigidMarker (int sensor, int led_id, float x, float y, float z)
 
bool startNewRigidBody (int sensor)
 
bool enableTracker (bool enable)
 
void setFrequency (float freq)
 
- 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. More...
 
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. More...
 
vrpn_ConnectionconnectionPtr ()
 Returns a pointer to the connection this object is using. More...
 

Static Public Member Functions

static int VRPN_CALLBACK handle_update_rate_request (void *userdata, vrpn_HANDLERPARAM p)
 
- 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)
 

Protected Types

typedef std::map< int, vrpn_int32 > RigidToSensorMap
 

Protected Member Functions

int read_frame (void)
 
virtual int get_report (void)
 
virtual void send_report (void)
 
- 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. More...
 
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. More...
 
virtual int encode_unit2sensor_to (char *buf)
 Encodes the "Unit to Sensor" transformation into the buffer specified. More...
 
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. More...
 
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. More...
 
- 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. More...
 
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. More...
 
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. More...
 
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() More...
 
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() More...
 

Protected Attributes

int numRigids
 
int numMarkers
 
bool owlRunning
 
float frequency
 
bool readMostRecent
 
bool slave
 
int frame
 
RigidToSensorMap r2s_map
 
std::vector< OWLMarker > markers
 
std::vector< OWLRigid > rigids
 
std::vector< OWLCamera > cameras
 
std::vector< OWLPlane > planes
 
std::vector< OWLPeak > peaks
 
std::vector< OWLImage > images
 
std::vector< OWLDetectors > detectors
 
- 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. More...
 
char * d_servicename
 Name of this device, not including the connection part. More...
 
vrpn_int32 d_sender_id
 Sender ID registered with the connection. More...
 
vrpn_int32 d_text_message_id
 ID for text messages. More...
 
vrpn_int32 d_ping_message_id
 Ask the server if they are there. More...
 
vrpn_int32 d_pong_message_id
 Server telling that it is there. More...
 

Additional Inherited Members

- Public Attributes inherited from vrpn_BaseClassUnique
bool shutup
 
vrpn_MESSAGEHANDLER handler
 
vrpn_int32 sender
 
vrpn_int32 type
 
void * userdata
 
- 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. More...
 
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. More...
 

Detailed Description

Definition at line 27 of file vrpn_Tracker_PhaseSpace.h.

Member Typedef Documentation

◆ RigidToSensorMap

typedef std::map<int, vrpn_int32> vrpn_Tracker_PhaseSpace::RigidToSensorMap
protected

Definition at line 61 of file vrpn_Tracker_PhaseSpace.h.

Constructor & Destructor Documentation

◆ vrpn_Tracker_PhaseSpace()

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::~vrpn_Tracker_PhaseSpace ( )

Definition at line 72 of file vrpn_Tracker_PhaseSpace.C.

References owlRunning.

Member Function Documentation

◆ addMarker()

bool vrpn_Tracker_PhaseSpace::addMarker ( int  sensor,
int  led_id 
)

Definition at line 96 of file vrpn_Tracker_PhaseSpace.C.

References numMarkers, owlRunning, slave, and VRPN_PHASESPACE_MAXMARKERS.

◆ addRigidMarker()

bool vrpn_Tracker_PhaseSpace::addRigidMarker ( int  sensor,
int  led_id,
float  x,
float  y,
float  z 
)

◆ enableTracker()

bool vrpn_Tracker_PhaseSpace::enableTracker ( bool  enable)

Definition at line 192 of file vrpn_Tracker_PhaseSpace.C.

References frequency, MM_TO_METERS, numRigids, owlRunning, setFrequency(), and slave.

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◆ get_report()

int vrpn_Tracker_PhaseSpace::get_report ( void  )
protectedvirtual

◆ handle_update_rate_request()

int vrpn_Tracker_PhaseSpace::handle_update_rate_request ( void *  userdata,
vrpn_HANDLERPARAM  p 
)
static

Definition at line 431 of file vrpn_Tracker_PhaseSpace.C.

References vrpn_HANDLERPARAM::buffer, setFrequency(), vrpn_BaseClassUnique::userdata, and vrpn_unbuffer().

Referenced by vrpn_Tracker_PhaseSpace().

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◆ mainloop()

void vrpn_Tracker_PhaseSpace::mainloop ( )
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 86 of file vrpn_Tracker_PhaseSpace.C.

References get_report(), and vrpn_BaseClassUnique::server_mainloop().

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◆ read_frame()

◆ send_report()

void vrpn_Tracker_PhaseSpace::send_report ( void  )
protectedvirtual

◆ setFrequency()

void vrpn_Tracker_PhaseSpace::setFrequency ( float  freq)

Definition at line 408 of file vrpn_Tracker_PhaseSpace.C.

References frequency, and owlRunning.

Referenced by enableTracker(), and handle_update_rate_request().

◆ startNewRigidBody()

bool vrpn_Tracker_PhaseSpace::startNewRigidBody ( int  sensor)

Definition at line 161 of file vrpn_Tracker_PhaseSpace.C.

References numRigids, owlRunning, r2s_map, slave, and VRPN_PHASESPACE_MAXRIGIDS.

Member Data Documentation

◆ cameras

std::vector<OWLCamera> vrpn_Tracker_PhaseSpace::cameras
protected

Definition at line 65 of file vrpn_Tracker_PhaseSpace.h.

Referenced by read_frame().

◆ detectors

std::vector<OWLDetectors> vrpn_Tracker_PhaseSpace::detectors
protected

Definition at line 69 of file vrpn_Tracker_PhaseSpace.h.

Referenced by read_frame().

◆ frame

int vrpn_Tracker_PhaseSpace::frame
protected

Definition at line 59 of file vrpn_Tracker_PhaseSpace.h.

Referenced by get_report(), read_frame(), and vrpn_Tracker_PhaseSpace().

◆ frequency

float vrpn_Tracker_PhaseSpace::frequency
protected

◆ images

std::vector<OWLImage> vrpn_Tracker_PhaseSpace::images
protected

Definition at line 68 of file vrpn_Tracker_PhaseSpace.h.

Referenced by read_frame().

◆ markers

std::vector<OWLMarker> vrpn_Tracker_PhaseSpace::markers
protected

Definition at line 63 of file vrpn_Tracker_PhaseSpace.h.

Referenced by get_report(), read_frame(), and vrpn_Tracker_PhaseSpace().

◆ numMarkers

int vrpn_Tracker_PhaseSpace::numMarkers
protected

Definition at line 54 of file vrpn_Tracker_PhaseSpace.h.

Referenced by addMarker(), addRigidMarker(), and vrpn_Tracker_PhaseSpace().

◆ numRigids

int vrpn_Tracker_PhaseSpace::numRigids
protected

◆ owlRunning

bool vrpn_Tracker_PhaseSpace::owlRunning
protected

◆ peaks

std::vector<OWLPeak> vrpn_Tracker_PhaseSpace::peaks
protected

Definition at line 67 of file vrpn_Tracker_PhaseSpace.h.

Referenced by read_frame().

◆ planes

std::vector<OWLPlane> vrpn_Tracker_PhaseSpace::planes
protected

Definition at line 66 of file vrpn_Tracker_PhaseSpace.h.

Referenced by read_frame().

◆ r2s_map

RigidToSensorMap vrpn_Tracker_PhaseSpace::r2s_map
protected

Definition at line 62 of file vrpn_Tracker_PhaseSpace.h.

Referenced by get_report(), and startNewRigidBody().

◆ readMostRecent

bool vrpn_Tracker_PhaseSpace::readMostRecent
protected

Definition at line 57 of file vrpn_Tracker_PhaseSpace.h.

Referenced by get_report(), and vrpn_Tracker_PhaseSpace().

◆ rigids

std::vector<OWLRigid> vrpn_Tracker_PhaseSpace::rigids
protected

Definition at line 64 of file vrpn_Tracker_PhaseSpace.h.

Referenced by get_report(), read_frame(), and vrpn_Tracker_PhaseSpace().

◆ slave

bool vrpn_Tracker_PhaseSpace::slave
protected

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