vrpn 07.35
Virtual Reality Peripheral Network
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Tracker filter based on the one-Euro filter by Jan Ciger jan.c.nosp@m.iger.nosp@m.@revi.nosp@m.atec.nosp@m.h.com More...
#include <vrpn_Tracker_Filter.h>
Public Member Functions | |
vrpn_Tracker_FilterOneEuro (const char *name, vrpn_Connection *trackercon, const char *listen_tracker_name, unsigned channels, vrpn_float64 vecMinCutoff=1.15, vrpn_float64 vecBeta=0.5, vrpn_float64 vecDerivativeCutoff=1.2, vrpn_float64 quatMinCutoff=1.5, vrpn_float64 quatBeta=0.5, vrpn_float64 quatDerivativeCutoff=1.2) | |
~vrpn_Tracker_FilterOneEuro () | |
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(). | |
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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. | |
Additional Inherited Members | |
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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) |
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bool | shutup |
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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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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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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. | |
Tracker filter based on the one-Euro filter by Jan Ciger jan.c.nosp@m.iger.nosp@m.@revi.nosp@m.atec.nosp@m.h.com
This class reads values from the specified tracker, then applies the one-Euro filter to its values and reports them as another tracker. This lets you filter any device type. It was originally written to be used with the Razer Hydra tracker.
Definition at line 31 of file vrpn_Tracker_Filter.h.
vrpn_Tracker_FilterOneEuro::vrpn_Tracker_FilterOneEuro | ( | const char * | name, |
vrpn_Connection * | trackercon, | ||
const char * | listen_tracker_name, | ||
unsigned | channels, | ||
vrpn_float64 | vecMinCutoff = 1.15, | ||
vrpn_float64 | vecBeta = 0.5, | ||
vrpn_float64 | vecDerivativeCutoff = 1.2, | ||
vrpn_float64 | quatMinCutoff = 1.5, | ||
vrpn_float64 | quatBeta = 0.5, | ||
vrpn_float64 | quatDerivativeCutoff = 1.2 ) |
Definition at line 53 of file vrpn_Tracker_Filter.C.
References vrpn_BaseClassUnique::d_connection, vrpn_Tracker_Remote::register_change_handler(), vrpn_OneEuroFilter< Filterable >::setBeta(), vrpn_OneEuroFilter< Filterable >::setDerivativeCutoff(), vrpn_OneEuroFilter< Filterable >::setMinCutoff(), vrpn_Tracker::timestamp, and vrpn_gettimeofday.
vrpn_Tracker_FilterOneEuro::~vrpn_Tracker_FilterOneEuro | ( | ) |
Definition at line 94 of file vrpn_Tracker_Filter.C.
References vrpn_Tracker_Remote::unregister_change_handler().
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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 113 of file vrpn_Tracker_Filter.C.
References vrpn_Tracker_Remote::mainloop(), and vrpn_BaseClassUnique::server_mainloop().