vrpn 07.35
Virtual Reality Peripheral Network
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vrpn_IMU_Magnetometer Class Reference

Normalizes the three directions for a magnetometer into a unit vector. More...

#include <vrpn_Tracker_IMU.h>

Inheritance diagram for vrpn_IMU_Magnetometer:
Collaboration diagram for vrpn_IMU_Magnetometer:

Public Member Functions

VRPN_API vrpn_IMU_Magnetometer (std::string const &name, vrpn_Connection *output_con, vrpn_IMU_Axis_Params params, float update_rate, bool report_changes=VRPN_FALSE)
 Constructor.
 
virtual VRPN_API ~vrpn_IMU_Magnetometer ()
 
virtual VRPN_API void mainloop ()
 Override base class function.
 
- Public Member Functions inherited from vrpn_Analog_Server
 vrpn_Analog_Server (const char *name, vrpn_Connection *c, vrpn_int32 numChannels=vrpn_CHANNEL_MAX)
 
virtual void report_changes (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY, const struct timeval time=vrpn_ANALOG_NOW)
 Makes public the protected base class function.
 
virtual void report (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY, const struct timeval time=vrpn_ANALOG_NOW)
 Makes public the protected base class function.
 
virtual void mainloop ()
 For this server, the user must normally call report() or report_changes() directly. This mainloop() only takes care of the things any server object should do.
 
vrpn_float64 * channels (void)
 Exposes an array of values for the user to write into.
 
vrpn_int32 setNumChannels (vrpn_int32 sizeRequested)
 Sets the size of the array; returns the size actually set. (May be clamped to vrpn_CHANNEL_MAX) This should be used before mainloop is ever called.
 
- Public Member Functions inherited from vrpn_Analog
 vrpn_Analog (const char *name, vrpn_Connection *c=NULL)
 
void print (void)
 
vrpn_int32 getNumChannels (void) const
 
- 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.
 
virtual ~vrpn_BaseClass ()
 
virtual void mainloop ()=0
 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().
 
- Public Member Functions inherited from vrpn_BaseClassUnique
 vrpn_BaseClassUnique ()
 
virtual ~vrpn_BaseClassUnique ()
 Unregister all of the message handlers that were to be autodeleted.
 
vrpn_ConnectionconnectionPtr ()
 Returns a pointer to the connection this object is using.
 

Protected Member Functions

int setup_vector (vrpn_IMU_Vector *vector)
 
int teardown_vector (vrpn_IMU_Vector *vector)
 
- Protected Member Functions inherited from vrpn_Analog
virtual int register_types (void)
 Register the types of messages this device sends/receives. Return 0 on success, -1 on fail.
 
virtual vrpn_int32 encode_to (char *buf)
 
virtual void report_changes (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY, const struct timeval time=vrpn_ANALOG_NOW)
 Send a report only if something has changed (for servers) Optionally, tell what time to stamp the value with.
 
virtual void report (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY, const struct timeval time=vrpn_ANALOG_NOW)
 Send a report whether something has changed or not (for servers) Optionally, tell what time to stamp the value with.
 
- 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.
 
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.
 
virtual int register_types (void)=0
 Register the types of messages this device sends/receives. Return 0 on success, -1 on fail.
 
- 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.
 
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()
 

Static Protected Member Functions

static void VRPN_CALLBACK handle_analog_update (void *userdata, const vrpn_ANALOGCB 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.
 
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.
 

Protected Attributes

double d_update_interval
 
struct timeval d_prevtime
 
bool d_report_changes
 
vrpn_IMU_Vector d_vector
 Axes to handle gathering and scaling the required data.
 
double d_mins [3]
 Minimum, maximum, and current values for each axis.
 
double d_maxes [3]
 
- Protected Attributes inherited from vrpn_Analog
vrpn_float64 channel [vrpn_CHANNEL_MAX]
 
vrpn_float64 last [vrpn_CHANNEL_MAX]
 
vrpn_int32 num_channel
 
struct timeval timestamp
 
vrpn_int32 channel_m_id
 
int status
 
- Protected Attributes inherited from vrpn_BaseClassUnique
vrpn_Connectiond_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.
 

Additional Inherited Members

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

Detailed Description

Normalizes the three directions for a magnetometer into a unit vector.

This class acts as an analog-to-analog filter. It is given three axes to manage. For each axis, it keeps track of the minimum and maximum value it has ever received and maps the current value into the range -1..1 based on that range. It then normalizes the resulting vector, producing a unit vector that should auto-calibrate itself over time to provide a unit direction vector (as a 3-output analog) pointing in the direction of magnetic north.

Definition at line 65 of file vrpn_Tracker_IMU.h.

Constructor & Destructor Documentation

◆ vrpn_IMU_Magnetometer()

vrpn_IMU_Magnetometer::vrpn_IMU_Magnetometer ( std::string const &  name,
vrpn_Connection output_con,
vrpn_IMU_Axis_Params  params,
float  update_rate,
bool  report_changes = VRPN_FALSE 
)

Constructor.

Parameters
nameThe name to give to the Analog_Server output device.
output_conThe connection to report on.
xThe parameters for the X axis.
yThe parameters for the Y axis.
zThe parameters for the Z axis.
update_rateHow often to send reports. If report_changes is true, it will only report at most this often. If report_changes is false, it will send reports at this rate whether it has received new values or not.
report_changesIf true, only reports values when at least one of them a changed. If false, report values at the specified rate whether or not they have changed.

Definition at line 11 of file vrpn_Tracker_IMU.C.

References vrpn_Analog::channel, d_maxes, d_mins, d_prevtime, d_vector, vrpn_Analog::num_channel, vrpn_IMU_Vector::params, setup_vector(), vrpn_IMU_Vector::time, vrpn_Analog::timestamp, and vrpn_gettimeofday.

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◆ ~vrpn_IMU_Magnetometer()

vrpn_IMU_Magnetometer::~vrpn_IMU_Magnetometer ( )
virtual

Definition at line 52 of file vrpn_Tracker_IMU.C.

References d_vector, and teardown_vector().

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Member Function Documentation

◆ handle_analog_update()

◆ mainloop()

◆ setup_vector()

int vrpn_IMU_Magnetometer::setup_vector ( vrpn_IMU_Vector vector)
protected

◆ teardown_vector()

int vrpn_IMU_Magnetometer::teardown_vector ( vrpn_IMU_Vector vector)
protected

Definition at line 123 of file vrpn_Tracker_IMU.C.

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

Referenced by ~vrpn_IMU_Magnetometer().

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Member Data Documentation

◆ d_maxes

double vrpn_IMU_Magnetometer::d_maxes[3]
protected

Definition at line 98 of file vrpn_Tracker_IMU.h.

Referenced by mainloop(), and vrpn_IMU_Magnetometer().

◆ d_mins

double vrpn_IMU_Magnetometer::d_mins[3]
protected

Minimum, maximum, and current values for each axis.

Definition at line 98 of file vrpn_Tracker_IMU.h.

Referenced by mainloop(), and vrpn_IMU_Magnetometer().

◆ d_prevtime

struct timeval vrpn_IMU_Magnetometer::d_prevtime
protected

Definition at line 91 of file vrpn_Tracker_IMU.h.

Referenced by mainloop(), and vrpn_IMU_Magnetometer().

◆ d_report_changes

bool vrpn_IMU_Magnetometer::d_report_changes
protected

Definition at line 92 of file vrpn_Tracker_IMU.h.

Referenced by mainloop().

◆ d_update_interval

double vrpn_IMU_Magnetometer::d_update_interval
protected

Definition at line 90 of file vrpn_Tracker_IMU.h.

Referenced by mainloop().

◆ d_vector

vrpn_IMU_Vector vrpn_IMU_Magnetometer::d_vector
protected

Axes to handle gathering and scaling the required data.

Definition at line 95 of file vrpn_Tracker_IMU.h.

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


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