vrpn
07.33
Virtual Reality Peripheral Network
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#include <vrpn_Tracker.h>
Public Member Functions | |
vrpn_Tracker_Remote (const char *name, vrpn_Connection *c=NULL) | |
virtual | ~vrpn_Tracker_Remote (void) |
int | request_t2r_xform (void) |
int | request_u2s_xform (void) |
int | request_workspace (void) |
int | set_update_rate (vrpn_float64 samplesPerSecond) |
int | reset_origin (void) |
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... | |
virtual int | register_change_handler (void *userdata, vrpn_TRACKERCHANGEHANDLER handler, vrpn_int32 sensor=vrpn_ALL_SENSORS) |
virtual int | unregister_change_handler (void *userdata, vrpn_TRACKERCHANGEHANDLER handler, vrpn_int32 sensor=vrpn_ALL_SENSORS) |
virtual int | register_change_handler (void *userdata, vrpn_TRACKERVELCHANGEHANDLER handler, vrpn_int32 sensor=vrpn_ALL_SENSORS) |
virtual int | unregister_change_handler (void *userdata, vrpn_TRACKERVELCHANGEHANDLER handler, vrpn_int32 sensor=vrpn_ALL_SENSORS) |
virtual int | register_change_handler (void *userdata, vrpn_TRACKERACCCHANGEHANDLER handler, vrpn_int32 sensor=vrpn_ALL_SENSORS) |
virtual int | unregister_change_handler (void *userdata, vrpn_TRACKERACCCHANGEHANDLER handler, vrpn_int32 sensor=vrpn_ALL_SENSORS) |
virtual int | register_change_handler (void *userdata, vrpn_TRACKERUNIT2SENSORCHANGEHANDLER handler, vrpn_int32 sensor=vrpn_ALL_SENSORS) |
virtual int | unregister_change_handler (void *userdata, vrpn_TRACKERUNIT2SENSORCHANGEHANDLER handler, vrpn_int32 sensor=vrpn_ALL_SENSORS) |
virtual int | register_change_handler (void *userdata, vrpn_TRACKERWORKSPACECHANGEHANDLER handler) |
virtual int | unregister_change_handler (void *userdata, vrpn_TRACKERWORKSPACECHANGEHANDLER handler) |
virtual int | register_change_handler (void *userdata, vrpn_TRACKERTRACKER2ROOMCHANGEHANDLER handler) |
virtual int | unregister_change_handler (void *userdata, vrpn_TRACKERTRACKER2ROOMCHANGEHANDLER handler) |
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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... | |
Protected Member Functions | |
bool | ensure_enough_sensor_callbacks (unsigned num) |
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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... | |
Static Protected Member Functions | |
static int VRPN_CALLBACK | handle_change_message (void *userdata, vrpn_HANDLERPARAM p) |
static int VRPN_CALLBACK | handle_vel_change_message (void *userdata, vrpn_HANDLERPARAM p) |
static int VRPN_CALLBACK | handle_acc_change_message (void *userdata, vrpn_HANDLERPARAM p) |
static int VRPN_CALLBACK | handle_tracker2room_change_message (void *userdata, vrpn_HANDLERPARAM p) |
static int VRPN_CALLBACK | handle_unit2sensor_change_message (void *userdata, vrpn_HANDLERPARAM p) |
static int VRPN_CALLBACK | handle_workspace_change_message (void *userdata, vrpn_HANDLERPARAM p) |
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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... | |
Protected Attributes | |
vrpn_Tracker_Sensor_Callbacks | all_sensor_callbacks |
vrpn_Tracker_Sensor_Callbacks * | sensor_callbacks |
unsigned | num_sensor_callbacks |
vrpn_Callback_List< vrpn_TRACKERTRACKER2ROOMCB > | d_tracker2roomchange_list |
vrpn_Callback_List< vrpn_TRACKERWORKSPACECB > | d_workspacechange_list |
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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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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 |
vrpn_MESSAGEHANDLER | handler |
vrpn_int32 | sender |
vrpn_int32 | type |
void * | userdata |
Definition at line 374 of file vrpn_Tracker.h.
vrpn_Tracker_Remote::vrpn_Tracker_Remote | ( | const char * | name, |
vrpn_Connection * | c = NULL |
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Definition at line 1155 of file vrpn_Tracker.C.
References vrpn_Tracker::accel_m_id, vrpn_BaseClassUnique::d_connection, vrpn_BaseClassUnique::d_sender_id, handle_acc_change_message(), handle_change_message(), handle_tracker2room_change_message(), handle_unit2sensor_change_message(), handle_vel_change_message(), handle_workspace_change_message(), vrpn_Tracker::position_m_id, vrpn_BaseClassUnique::register_autodeleted_handler(), vrpn_Tracker::timestamp, vrpn_Tracker::tracker2room_m_id, vrpn_Tracker::unit2sensor_m_id, vrpn_Tracker::velocity_m_id, vrpn_gettimeofday, and vrpn_Tracker::workspace_m_id.
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Definition at line 1226 of file vrpn_Tracker.C.
References num_sensor_callbacks, and sensor_callbacks.
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Definition at line 1236 of file vrpn_Tracker.C.
References num_sensor_callbacks, and sensor_callbacks.
Referenced by handle_acc_change_message(), handle_change_message(), handle_unit2sensor_change_message(), handle_vel_change_message(), register_change_handler(), and unregister_change_handler().
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Definition at line 1730 of file vrpn_Tracker.C.
References all_sensor_callbacks, vrpn_HANDLERPARAM::buffer, vrpn_Callback_List< CALLBACK_STRUCT >::call_handlers(), vrpn_Tracker_Sensor_Callbacks::d_accchange, ensure_enough_sensor_callbacks(), vrpn_HANDLERPARAM::msg_time, vrpn_HANDLERPARAM::payload_len, sensor_callbacks, vrpn_BaseClassUnique::userdata, and vrpn_unbuffer().
Referenced by vrpn_Tracker_Remote().
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Definition at line 1638 of file vrpn_Tracker.C.
References all_sensor_callbacks, vrpn_HANDLERPARAM::buffer, vrpn_Callback_List< CALLBACK_STRUCT >::call_handlers(), vrpn_Tracker_Sensor_Callbacks::d_change, ensure_enough_sensor_callbacks(), vrpn_HANDLERPARAM::msg_time, vrpn_HANDLERPARAM::payload_len, sensor_callbacks, vrpn_BaseClassUnique::userdata, and vrpn_unbuffer().
Referenced by vrpn_Tracker_Remote().
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Definition at line 1821 of file vrpn_Tracker.C.
References vrpn_HANDLERPARAM::buffer, vrpn_Callback_List< CALLBACK_STRUCT >::call_handlers(), d_tracker2roomchange_list, vrpn_HANDLERPARAM::msg_time, vrpn_HANDLERPARAM::payload_len, vrpn_BaseClassUnique::userdata, and vrpn_unbuffer().
Referenced by vrpn_Tracker_Remote().
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Definition at line 1775 of file vrpn_Tracker.C.
References all_sensor_callbacks, vrpn_HANDLERPARAM::buffer, vrpn_Callback_List< CALLBACK_STRUCT >::call_handlers(), vrpn_Tracker_Sensor_Callbacks::d_unit2sensorchange, ensure_enough_sensor_callbacks(), vrpn_HANDLERPARAM::msg_time, vrpn_HANDLERPARAM::payload_len, sensor_callbacks, vrpn_BaseClassUnique::userdata, and vrpn_unbuffer().
Referenced by vrpn_Tracker_Remote().
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Definition at line 1685 of file vrpn_Tracker.C.
References all_sensor_callbacks, vrpn_HANDLERPARAM::buffer, vrpn_Callback_List< CALLBACK_STRUCT >::call_handlers(), vrpn_Tracker_Sensor_Callbacks::d_velchange, ensure_enough_sensor_callbacks(), vrpn_HANDLERPARAM::msg_time, vrpn_HANDLERPARAM::payload_len, sensor_callbacks, vrpn_BaseClassUnique::userdata, and vrpn_unbuffer().
Referenced by vrpn_Tracker_Remote().
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Definition at line 1852 of file vrpn_Tracker.C.
References vrpn_HANDLERPARAM::buffer, vrpn_Callback_List< CALLBACK_STRUCT >::call_handlers(), d_workspacechange_list, vrpn_HANDLERPARAM::msg_time, vrpn_HANDLERPARAM::payload_len, vrpn_BaseClassUnique::userdata, and vrpn_unbuffer().
Referenced by vrpn_Tracker_Remote().
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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 1386 of file vrpn_Tracker.C.
References vrpn_BaseClassUnique::client_mainloop(), vrpn_BaseClassUnique::d_connection, and vrpn_Connection::mainloop().
Referenced by vrpn_Tracker_FilterOneEuro::mainloop().
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Definition at line 1463 of file vrpn_Tracker.C.
References all_sensor_callbacks, vrpn_Tracker_Sensor_Callbacks::d_accchange, ensure_enough_sensor_callbacks(), vrpn_BaseClassUnique::handler, vrpn_Callback_List< CALLBACK_STRUCT >::register_handler(), sensor_callbacks, vrpn_BaseClassUnique::userdata, and vrpn_ALL_SENSORS.
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Definition at line 1394 of file vrpn_Tracker.C.
References all_sensor_callbacks, vrpn_Tracker_Sensor_Callbacks::d_change, ensure_enough_sensor_callbacks(), vrpn_BaseClassUnique::handler, vrpn_Callback_List< CALLBACK_STRUCT >::register_handler(), sensor_callbacks, vrpn_BaseClassUnique::userdata, and vrpn_ALL_SENSORS.
Referenced by vrpn_Tracker_FilterOneEuro::vrpn_Tracker_FilterOneEuro().
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Definition at line 458 of file vrpn_Tracker.h.
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Definition at line 1499 of file vrpn_Tracker.C.
References all_sensor_callbacks, vrpn_Tracker_Sensor_Callbacks::d_unit2sensorchange, ensure_enough_sensor_callbacks(), vrpn_BaseClassUnique::handler, vrpn_Callback_List< CALLBACK_STRUCT >::register_handler(), sensor_callbacks, vrpn_BaseClassUnique::userdata, and vrpn_ALL_SENSORS.
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Definition at line 1428 of file vrpn_Tracker.C.
References all_sensor_callbacks, vrpn_Tracker_Sensor_Callbacks::d_velchange, ensure_enough_sensor_callbacks(), vrpn_BaseClassUnique::handler, vrpn_Callback_List< CALLBACK_STRUCT >::register_handler(), sensor_callbacks, vrpn_BaseClassUnique::userdata, and vrpn_ALL_SENSORS.
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Definition at line 444 of file vrpn_Tracker.h.
int vrpn_Tracker_Remote::request_t2r_xform | ( | void | ) |
Definition at line 1271 of file vrpn_Tracker.C.
References vrpn_BaseClassUnique::d_connection, vrpn_BaseClassUnique::d_sender_id, vrpn_Connection::pack_message(), vrpn_Tracker::request_t2r_m_id, vrpn_Tracker::timestamp, vrpn_CONNECTION_RELIABLE, and vrpn_gettimeofday.
int vrpn_Tracker_Remote::request_u2s_xform | ( | void | ) |
Definition at line 1292 of file vrpn_Tracker.C.
References vrpn_BaseClassUnique::d_connection, vrpn_BaseClassUnique::d_sender_id, vrpn_Connection::pack_message(), vrpn_Tracker::request_u2s_m_id, vrpn_Tracker::timestamp, vrpn_CONNECTION_RELIABLE, and vrpn_gettimeofday.
int vrpn_Tracker_Remote::request_workspace | ( | void | ) |
Definition at line 1313 of file vrpn_Tracker.C.
References vrpn_BaseClassUnique::d_connection, vrpn_BaseClassUnique::d_sender_id, vrpn_Connection::pack_message(), vrpn_Tracker::request_workspace_m_id, vrpn_Tracker::timestamp, vrpn_CONNECTION_RELIABLE, and vrpn_gettimeofday.
int vrpn_Tracker_Remote::reset_origin | ( | void | ) |
Definition at line 1368 of file vrpn_Tracker.C.
References vrpn_BaseClassUnique::d_connection, vrpn_BaseClassUnique::d_sender_id, vrpn_Connection::pack_message(), vrpn_Tracker::reset_origin_m_id, vrpn_Tracker::timestamp, vrpn_CONNECTION_RELIABLE, and vrpn_gettimeofday.
int vrpn_Tracker_Remote::set_update_rate | ( | vrpn_float64 | samplesPerSecond | ) |
Definition at line 1335 of file vrpn_Tracker.C.
References vrpn_BaseClassUnique::d_connection, vrpn_BaseClassUnique::d_sender_id, vrpn_Connection::pack_message(), vrpn_Tracker::timestamp, vrpn_Tracker::update_rate_id, vrpn_buffer(), vrpn_CONNECTION_RELIABLE, and vrpn_gettimeofday.
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Definition at line 1586 of file vrpn_Tracker.C.
References all_sensor_callbacks, vrpn_Tracker_Sensor_Callbacks::d_accchange, ensure_enough_sensor_callbacks(), vrpn_BaseClassUnique::handler, sensor_callbacks, vrpn_Callback_List< CALLBACK_STRUCT >::unregister_handler(), vrpn_BaseClassUnique::userdata, and vrpn_ALL_SENSORS.
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Definition at line 1535 of file vrpn_Tracker.C.
References all_sensor_callbacks, vrpn_Tracker_Sensor_Callbacks::d_change, ensure_enough_sensor_callbacks(), vrpn_BaseClassUnique::handler, sensor_callbacks, vrpn_Callback_List< CALLBACK_STRUCT >::unregister_handler(), vrpn_BaseClassUnique::userdata, and vrpn_ALL_SENSORS.
Referenced by vrpn_Tracker_FilterOneEuro::~vrpn_Tracker_FilterOneEuro().
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Definition at line 464 of file vrpn_Tracker.h.
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Definition at line 1612 of file vrpn_Tracker.C.
References all_sensor_callbacks, vrpn_Tracker_Sensor_Callbacks::d_unit2sensorchange, ensure_enough_sensor_callbacks(), vrpn_BaseClassUnique::handler, sensor_callbacks, vrpn_Callback_List< CALLBACK_STRUCT >::unregister_handler(), vrpn_BaseClassUnique::userdata, and vrpn_ALL_SENSORS.
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Definition at line 1560 of file vrpn_Tracker.C.
References all_sensor_callbacks, vrpn_Tracker_Sensor_Callbacks::d_velchange, ensure_enough_sensor_callbacks(), vrpn_BaseClassUnique::handler, sensor_callbacks, vrpn_Callback_List< CALLBACK_STRUCT >::unregister_handler(), vrpn_BaseClassUnique::userdata, and vrpn_ALL_SENSORS.
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Definition at line 450 of file vrpn_Tracker.h.
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Definition at line 468 of file vrpn_Tracker.h.
Referenced by handle_acc_change_message(), handle_change_message(), handle_unit2sensor_change_message(), handle_vel_change_message(), register_change_handler(), and unregister_change_handler().
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Definition at line 478 of file vrpn_Tracker.h.
Referenced by handle_tracker2room_change_message().
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Definition at line 479 of file vrpn_Tracker.h.
Referenced by handle_workspace_change_message().
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Definition at line 474 of file vrpn_Tracker.h.
Referenced by ensure_enough_sensor_callbacks(), and ~vrpn_Tracker_Remote().
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Definition at line 473 of file vrpn_Tracker.h.
Referenced by ensure_enough_sensor_callbacks(), handle_acc_change_message(), handle_change_message(), handle_unit2sensor_change_message(), handle_vel_change_message(), register_change_handler(), unregister_change_handler(), and ~vrpn_Tracker_Remote().