vrpn  07.33
Virtual Reality Peripheral Network
vrpn_Tracker_AnalogFly Class Reference

This class will turn an analog device such as a joystick or a camera. More...

#include <vrpn_Tracker_AnalogFly.h>

Inheritance diagram for vrpn_Tracker_AnalogFly:
Collaboration diagram for vrpn_Tracker_AnalogFly:

Public Member Functions

 vrpn_Tracker_AnalogFly (const char *name, vrpn_Connection *trackercon, vrpn_Tracker_AnalogFlyParam *params, float update_rate, bool absolute=vrpn_FALSE, bool reportChanges=VRPN_FALSE, bool worldFrame=VRPN_FALSE)
 
virtual ~vrpn_Tracker_AnalogFly (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 void reset (void)
 Reset the current matrix to zero and store it into the tracker position/quaternion location. More...
 
void update (q_matrix_type &)
 
- 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 void VRPN_CALLBACK handle_joystick (void *, const vrpn_ANALOGCB)
 
static int VRPN_CALLBACK handle_newConnection (void *, vrpn_HANDLERPARAM)
 
- 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 Member Functions

void update_matrix_based_on_values (double time_interval)
 
void convert_matrix_to_tracker (void)
 
bool shouldReport (double elapsedInterval) const
 
int setup_channel (vrpn_TAF_fullaxis *full)
 
int teardown_channel (vrpn_TAF_fullaxis *full)
 
- 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...
 

Static Protected Member Functions

static void VRPN_CALLBACK handle_analog_update (void *userdata, const vrpn_ANALOGCB info)
 
static void VRPN_CALLBACK handle_reset_press (void *userdata, const vrpn_BUTTONCB info)
 
static void VRPN_CALLBACK handle_clutch_press (void *userdata, const vrpn_BUTTONCB 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. 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

double d_update_interval
 
struct timeval d_prevtime
 
bool d_absolute
 
bool d_reportChanges
 
bool d_worldFrame
 
vrpn_TAF_fullaxis d_x
 
vrpn_TAF_fullaxis d_y
 
vrpn_TAF_fullaxis d_z
 
vrpn_TAF_fullaxis d_sx
 
vrpn_TAF_fullaxis d_sy
 
vrpn_TAF_fullaxis d_sz
 
vrpn_Button_Remoted_reset_button
 
int d_which_button
 
vrpn_Button_Remoted_clutch_button
 
int d_clutch_which
 
bool d_clutch_engaged
 
bool d_clutch_was_off
 
q_matrix_type d_initMatrix
 
q_matrix_type d_currentMatrix
 
q_matrix_type d_clutchMatrix
 
- 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
 

Detailed Description

This class will turn an analog device such as a joystick or a camera.

Definition at line 105 of file vrpn_Tracker_AnalogFly.h.

Constructor & Destructor Documentation

◆ vrpn_Tracker_AnalogFly()

vrpn_Tracker_AnalogFly::vrpn_Tracker_AnalogFly ( const char *  name,
vrpn_Connection trackercon,
vrpn_Tracker_AnalogFlyParam params,
float  update_rate,
bool  absolute = vrpn_FALSE,
bool  reportChanges = VRPN_FALSE,
bool  worldFrame = VRPN_FALSE 
)

◆ ~vrpn_Tracker_AnalogFly()

vrpn_Tracker_AnalogFly::~vrpn_Tracker_AnalogFly ( void  )
virtual

Member Function Documentation

◆ convert_matrix_to_tracker()

void vrpn_Tracker_AnalogFly::convert_matrix_to_tracker ( void  )
protected

Definition at line 501 of file vrpn_Tracker_AnalogFly.C.

References d_currentMatrix, vrpn_Tracker::d_quat, and vrpn_Tracker::pos.

Referenced by reset().

◆ handle_analog_update()

void VRPN_CALLBACK vrpn_Tracker_AnalogFly::handle_analog_update ( void *  userdata,
const vrpn_ANALOGCB  info 
)
staticprotected

◆ handle_clutch_press()

void VRPN_CALLBACK vrpn_Tracker_AnalogFly::handle_clutch_press ( void *  userdata,
const vrpn_BUTTONCB  info 
)
staticprotected

Definition at line 232 of file vrpn_Tracker_AnalogFly.C.

References d_clutch_engaged, and d_clutch_which.

Referenced by ~vrpn_Tracker_AnalogFly().

◆ handle_joystick()

static void VRPN_CALLBACK vrpn_Tracker_AnalogFly::handle_joystick ( void *  ,
const  vrpn_ANALOGCB 
)
static

◆ handle_newConnection()

int VRPN_CALLBACK vrpn_Tracker_AnalogFly::handle_newConnection ( void *  userdata,
vrpn_HANDLERPARAM   
)
static

Definition at line 304 of file vrpn_Tracker_AnalogFly.C.

References vrpn_BaseClassUnique::userdata.

◆ handle_reset_press()

void VRPN_CALLBACK vrpn_Tracker_AnalogFly::handle_reset_press ( void *  userdata,
const vrpn_BUTTONCB  info 
)
staticprotected

Definition at line 218 of file vrpn_Tracker_AnalogFly.C.

References d_which_button, and reset().

Referenced by ~vrpn_Tracker_AnalogFly().

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◆ mainloop()

void vrpn_Tracker_AnalogFly::mainloop ( )
virtual

◆ reset()

void vrpn_Tracker_AnalogFly::reset ( void  )
virtual

Reset the current matrix to zero and store it into the tracker position/quaternion location.

This is is not done for an absolute tracker, whose position and orientation are locked to the reports from the analog device.

Definition at line 323 of file vrpn_Tracker_AnalogFly.C.

References convert_matrix_to_tracker(), d_clutchMatrix, d_currentMatrix, d_initMatrix, d_prevtime, and vrpn_gettimeofday.

Referenced by handle_reset_press().

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◆ setup_channel()

int vrpn_Tracker_AnalogFly::setup_channel ( vrpn_TAF_fullaxis full)
protected

◆ shouldReport()

bool vrpn_Tracker_AnalogFly::shouldReport ( double  elapsedInterval) const
protected

Definition at line 517 of file vrpn_Tracker_AnalogFly.C.

Referenced by mainloop().

◆ teardown_channel()

int vrpn_Tracker_AnalogFly::teardown_channel ( vrpn_TAF_fullaxis full)
protected

Definition at line 286 of file vrpn_Tracker_AnalogFly.C.

References vrpn_TAF_fullaxis::ana, handle_analog_update(), and vrpn_Analog_Remote::unregister_change_handler().

Referenced by ~vrpn_Tracker_AnalogFly().

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◆ update()

void vrpn_Tracker_AnalogFly::update ( q_matrix_type &  )

◆ update_matrix_based_on_values()

void vrpn_Tracker_AnalogFly::update_matrix_based_on_values ( double  time_interval)
protected

Definition at line 414 of file vrpn_Tracker_AnalogFly.C.

References M_PI.

Referenced by mainloop().

Member Data Documentation

◆ d_absolute

bool vrpn_Tracker_AnalogFly::d_absolute
protected

Definition at line 126 of file vrpn_Tracker_AnalogFly.h.

Referenced by handle_analog_update(), and mainloop().

◆ d_clutch_button

vrpn_Button_Remote* vrpn_Tracker_AnalogFly::d_clutch_button
protected

Definition at line 134 of file vrpn_Tracker_AnalogFly.h.

Referenced by mainloop(), and ~vrpn_Tracker_AnalogFly().

◆ d_clutch_engaged

bool vrpn_Tracker_AnalogFly::d_clutch_engaged
protected

Definition at line 136 of file vrpn_Tracker_AnalogFly.h.

Referenced by handle_clutch_press().

◆ d_clutch_was_off

bool vrpn_Tracker_AnalogFly::d_clutch_was_off
protected

Definition at line 137 of file vrpn_Tracker_AnalogFly.h.

◆ d_clutch_which

int vrpn_Tracker_AnalogFly::d_clutch_which
protected

Definition at line 135 of file vrpn_Tracker_AnalogFly.h.

Referenced by handle_clutch_press().

◆ d_clutchMatrix

q_matrix_type vrpn_Tracker_AnalogFly::d_clutchMatrix
protected

Definition at line 139 of file vrpn_Tracker_AnalogFly.h.

Referenced by reset().

◆ d_currentMatrix

q_matrix_type vrpn_Tracker_AnalogFly::d_currentMatrix
protected

Definition at line 139 of file vrpn_Tracker_AnalogFly.h.

Referenced by convert_matrix_to_tracker(), and reset().

◆ d_initMatrix

q_matrix_type vrpn_Tracker_AnalogFly::d_initMatrix
protected

Definition at line 139 of file vrpn_Tracker_AnalogFly.h.

Referenced by reset().

◆ d_prevtime

struct timeval vrpn_Tracker_AnalogFly::d_prevtime
protected

Definition at line 125 of file vrpn_Tracker_AnalogFly.h.

Referenced by mainloop(), and reset().

◆ d_reportChanges

bool vrpn_Tracker_AnalogFly::d_reportChanges
protected

Definition at line 127 of file vrpn_Tracker_AnalogFly.h.

◆ d_reset_button

vrpn_Button_Remote* vrpn_Tracker_AnalogFly::d_reset_button
protected

Definition at line 131 of file vrpn_Tracker_AnalogFly.h.

Referenced by mainloop(), and ~vrpn_Tracker_AnalogFly().

◆ d_sx

vrpn_TAF_fullaxis vrpn_Tracker_AnalogFly::d_sx
protected

Definition at line 130 of file vrpn_Tracker_AnalogFly.h.

Referenced by mainloop(), and ~vrpn_Tracker_AnalogFly().

◆ d_sy

vrpn_TAF_fullaxis vrpn_Tracker_AnalogFly::d_sy
protected

Definition at line 130 of file vrpn_Tracker_AnalogFly.h.

Referenced by mainloop(), and ~vrpn_Tracker_AnalogFly().

◆ d_sz

vrpn_TAF_fullaxis vrpn_Tracker_AnalogFly::d_sz
protected

Definition at line 130 of file vrpn_Tracker_AnalogFly.h.

Referenced by mainloop(), and ~vrpn_Tracker_AnalogFly().

◆ d_update_interval

double vrpn_Tracker_AnalogFly::d_update_interval
protected

Definition at line 124 of file vrpn_Tracker_AnalogFly.h.

Referenced by mainloop().

◆ d_which_button

int vrpn_Tracker_AnalogFly::d_which_button
protected

Definition at line 132 of file vrpn_Tracker_AnalogFly.h.

Referenced by handle_reset_press().

◆ d_worldFrame

bool vrpn_Tracker_AnalogFly::d_worldFrame
protected

Definition at line 128 of file vrpn_Tracker_AnalogFly.h.

◆ d_x

vrpn_TAF_fullaxis vrpn_Tracker_AnalogFly::d_x
protected

Definition at line 130 of file vrpn_Tracker_AnalogFly.h.

Referenced by mainloop(), and ~vrpn_Tracker_AnalogFly().

◆ d_y

vrpn_TAF_fullaxis vrpn_Tracker_AnalogFly::d_y
protected

Definition at line 130 of file vrpn_Tracker_AnalogFly.h.

Referenced by mainloop(), and ~vrpn_Tracker_AnalogFly().

◆ d_z

vrpn_TAF_fullaxis vrpn_Tracker_AnalogFly::d_z
protected

Definition at line 130 of file vrpn_Tracker_AnalogFly.h.

Referenced by mainloop(), and ~vrpn_Tracker_AnalogFly().


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