vrpn
07.33
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, 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) |
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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. More... | |
virtual | ~vrpn_BaseClass () |
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vrpn_BaseClassUnique () | |
virtual | ~vrpn_BaseClassUnique () |
Unregister all of the message handlers that were to be autodeleted. More... | |
vrpn_Connection * | connectionPtr () |
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) |
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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) |
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) |
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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. 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) |
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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... | |
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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. 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 |
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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. 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 | |
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bool | shutup |
vrpn_MESSAGEHANDLER | handler |
vrpn_int32 | sender |
vrpn_int32 | type |
void * | userdata |
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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. 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... | |
Definition at line 27 of file vrpn_Tracker_PhaseSpace.h.
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Definition at line 61 of file vrpn_Tracker_PhaseSpace.h.
vrpn_Tracker_PhaseSpace::vrpn_Tracker_PhaseSpace | ( | const char * | name, |
vrpn_Connection * | c, | ||
const char * | device, | ||
float | frequency, | ||
int | readflag, | ||
int | slaveflag = 0 |
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) |
Definition at line 16 of file vrpn_Tracker_PhaseSpace.C.
References vrpn_BaseClassUnique::d_connection, vrpn_BaseClassUnique::d_sender_id, frame, frequency, handle_update_rate_request(), markers, numMarkers, numRigids, owlRunning, readMostRecent, vrpn_BaseClassUnique::register_autodeleted_handler(), rigids, slave, vrpn_Tracker::update_rate_id, VRPN_PHASESPACE_MAXMARKERS, and VRPN_PHASESPACE_MAXRIGIDS.
vrpn_Tracker_PhaseSpace::~vrpn_Tracker_PhaseSpace | ( | ) |
Definition at line 72 of file vrpn_Tracker_PhaseSpace.C.
References owlRunning.
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.
bool vrpn_Tracker_PhaseSpace::addRigidMarker | ( | int | sensor, |
int | led_id, | ||
float | x, | ||
float | y, | ||
float | z | ||
) |
Definition at line 122 of file vrpn_Tracker_PhaseSpace.C.
References numMarkers, numRigids, owlRunning, slave, and VRPN_PHASESPACE_MAXMARKERS.
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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protectedvirtual |
Definition at line 310 of file vrpn_Tracker_PhaseSpace.C.
References vrpn_Tracker::d_quat, vrpn_Tracker::d_sensor, frame, frame_to_time(), frequency, markers, owlRunning, vrpn_Tracker::pos, r2s_map, read_frame(), readMostRecent, rigids, send_report(), slave, and vrpn_Tracker::timestamp.
Referenced by mainloop().
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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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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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Definition at line 238 of file vrpn_Tracker_PhaseSpace.C.
References cameras, detectors, frame, frequency, images, markers, owlRunning, peaks, planes, rigids, vrpn_BaseClassUnique::send_text_message(), vrpn_Tracker::timestamp, VRPN_PHASESPACE_MAXCAMERAS, VRPN_PHASESPACE_MAXDETECTORS, VRPN_PHASESPACE_MAXIMAGES, VRPN_PHASESPACE_MAXMARKERS, VRPN_PHASESPACE_MAXPEAKS, VRPN_PHASESPACE_MAXPLANES, VRPN_PHASESPACE_MAXRIGIDS, and vrpn_TEXT_ERROR.
Referenced by get_report().
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protectedvirtual |
Definition at line 394 of file vrpn_Tracker_PhaseSpace.C.
References vrpn_BaseClassUnique::d_connection, vrpn_BaseClassUnique::d_sender_id, vrpn_Tracker::encode_to(), vrpn_Connection::pack_message(), vrpn_Tracker::position_m_id, vrpn_Tracker::timestamp, vrpn_CONNECTION_LOW_LATENCY, and VRPN_PHASESPACE_MSGBUFSIZE.
Referenced by get_report().
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().
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.
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Definition at line 65 of file vrpn_Tracker_PhaseSpace.h.
Referenced by read_frame().
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Definition at line 69 of file vrpn_Tracker_PhaseSpace.h.
Referenced by read_frame().
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Definition at line 59 of file vrpn_Tracker_PhaseSpace.h.
Referenced by get_report(), read_frame(), and vrpn_Tracker_PhaseSpace().
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Definition at line 56 of file vrpn_Tracker_PhaseSpace.h.
Referenced by enableTracker(), get_report(), read_frame(), setFrequency(), and vrpn_Tracker_PhaseSpace().
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Definition at line 68 of file vrpn_Tracker_PhaseSpace.h.
Referenced by read_frame().
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Definition at line 63 of file vrpn_Tracker_PhaseSpace.h.
Referenced by get_report(), read_frame(), and vrpn_Tracker_PhaseSpace().
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Definition at line 54 of file vrpn_Tracker_PhaseSpace.h.
Referenced by addMarker(), addRigidMarker(), and vrpn_Tracker_PhaseSpace().
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Definition at line 53 of file vrpn_Tracker_PhaseSpace.h.
Referenced by addRigidMarker(), enableTracker(), startNewRigidBody(), and vrpn_Tracker_PhaseSpace().
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Definition at line 55 of file vrpn_Tracker_PhaseSpace.h.
Referenced by addMarker(), addRigidMarker(), enableTracker(), get_report(), read_frame(), setFrequency(), startNewRigidBody(), vrpn_Tracker_PhaseSpace(), and ~vrpn_Tracker_PhaseSpace().
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Definition at line 67 of file vrpn_Tracker_PhaseSpace.h.
Referenced by read_frame().
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Definition at line 66 of file vrpn_Tracker_PhaseSpace.h.
Referenced by read_frame().
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Definition at line 62 of file vrpn_Tracker_PhaseSpace.h.
Referenced by get_report(), and startNewRigidBody().
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Definition at line 57 of file vrpn_Tracker_PhaseSpace.h.
Referenced by get_report(), and vrpn_Tracker_PhaseSpace().
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Definition at line 64 of file vrpn_Tracker_PhaseSpace.h.
Referenced by get_report(), read_frame(), and vrpn_Tracker_PhaseSpace().
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Definition at line 58 of file vrpn_Tracker_PhaseSpace.h.
Referenced by addMarker(), addRigidMarker(), enableTracker(), get_report(), startNewRigidBody(), and vrpn_Tracker_PhaseSpace().