vrpn 07.35
Virtual Reality Peripheral Network
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vrpn_Tracker_Remote Class Reference

#include <vrpn_Tracker.h>

Inheritance diagram for vrpn_Tracker_Remote:
Collaboration diagram for vrpn_Tracker_Remote:

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().
 
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)
 
- 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.
 
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

bool ensure_enough_sensor_callbacks (unsigned num)
 
- 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.
 
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)
 
- 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 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)
 
- 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

vrpn_Tracker_Sensor_Callbacks all_sensor_callbacks
 
vrpn_Tracker_Sensor_Callbackssensor_callbacks
 
unsigned num_sensor_callbacks
 
vrpn_Callback_List< vrpn_TRACKERTRACKER2ROOMCBd_tracker2roomchange_list
 
vrpn_Callback_List< vrpn_TRACKERWORKSPACECBd_workspacechange_list
 
- 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.
 
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

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

Detailed Description

Definition at line 396 of file vrpn_Tracker.h.

Constructor & Destructor Documentation

◆ vrpn_Tracker_Remote()

◆ ~vrpn_Tracker_Remote()

vrpn_Tracker_Remote::~vrpn_Tracker_Remote ( void  )
virtual

Definition at line 1342 of file vrpn_Tracker.C.

References num_sensor_callbacks, and sensor_callbacks.

Member Function Documentation

◆ ensure_enough_sensor_callbacks()

bool vrpn_Tracker_Remote::ensure_enough_sensor_callbacks ( unsigned  num)
protected

◆ handle_acc_change_message()

◆ handle_change_message()

◆ handle_tracker2room_change_message()

◆ handle_unit2sensor_change_message()

◆ handle_vel_change_message()

◆ handle_workspace_change_message()

◆ mainloop()

void vrpn_Tracker_Remote::mainloop ( )
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 1505 of file vrpn_Tracker.C.

References vrpn_BaseClassUnique::client_mainloop(), vrpn_BaseClassUnique::d_connection, and vrpn_Connection::mainloop().

Referenced by vrpn_Tracker_FilterOneEuro::mainloop(), and vrpn_Tracker_DeadReckoning_Rotation::test().

Here is the call graph for this function:

◆ register_change_handler() [1/6]

int vrpn_Tracker_Remote::register_change_handler ( void *  userdata,
vrpn_TRACKERACCCHANGEHANDLER  handler,
vrpn_int32  sensor = vrpn_ALL_SENSORS 
)
virtual

◆ register_change_handler() [2/6]

◆ register_change_handler() [3/6]

virtual int vrpn_Tracker_Remote::register_change_handler ( void *  userdata,
vrpn_TRACKERTRACKER2ROOMCHANGEHANDLER  handler 
)
inlinevirtual

Definition at line 480 of file vrpn_Tracker.h.

◆ register_change_handler() [4/6]

int vrpn_Tracker_Remote::register_change_handler ( void *  userdata,
vrpn_TRACKERUNIT2SENSORCHANGEHANDLER  handler,
vrpn_int32  sensor = vrpn_ALL_SENSORS 
)
virtual

◆ register_change_handler() [5/6]

int vrpn_Tracker_Remote::register_change_handler ( void *  userdata,
vrpn_TRACKERVELCHANGEHANDLER  handler,
vrpn_int32  sensor = vrpn_ALL_SENSORS 
)
virtual

◆ register_change_handler() [6/6]

virtual int vrpn_Tracker_Remote::register_change_handler ( void *  userdata,
vrpn_TRACKERWORKSPACECHANGEHANDLER  handler 
)
inlinevirtual

Definition at line 466 of file vrpn_Tracker.h.

◆ request_t2r_xform()

int vrpn_Tracker_Remote::request_t2r_xform ( void  )

◆ request_u2s_xform()

int vrpn_Tracker_Remote::request_u2s_xform ( void  )

◆ request_workspace()

int vrpn_Tracker_Remote::request_workspace ( void  )

◆ reset_origin()

int vrpn_Tracker_Remote::reset_origin ( void  )

◆ set_update_rate()

int vrpn_Tracker_Remote::set_update_rate ( vrpn_float64  samplesPerSecond)

◆ unregister_change_handler() [1/6]

int vrpn_Tracker_Remote::unregister_change_handler ( void *  userdata,
vrpn_TRACKERACCCHANGEHANDLER  handler,
vrpn_int32  sensor = vrpn_ALL_SENSORS 
)
virtual

◆ unregister_change_handler() [2/6]

int vrpn_Tracker_Remote::unregister_change_handler ( void *  userdata,
vrpn_TRACKERCHANGEHANDLER  handler,
vrpn_int32  sensor = vrpn_ALL_SENSORS 
)
virtual

◆ unregister_change_handler() [3/6]

virtual int vrpn_Tracker_Remote::unregister_change_handler ( void *  userdata,
vrpn_TRACKERTRACKER2ROOMCHANGEHANDLER  handler 
)
inlinevirtual

Definition at line 486 of file vrpn_Tracker.h.

◆ unregister_change_handler() [4/6]

int vrpn_Tracker_Remote::unregister_change_handler ( void *  userdata,
vrpn_TRACKERUNIT2SENSORCHANGEHANDLER  handler,
vrpn_int32  sensor = vrpn_ALL_SENSORS 
)
virtual

◆ unregister_change_handler() [5/6]

int vrpn_Tracker_Remote::unregister_change_handler ( void *  userdata,
vrpn_TRACKERVELCHANGEHANDLER  handler,
vrpn_int32  sensor = vrpn_ALL_SENSORS 
)
virtual

◆ unregister_change_handler() [6/6]

virtual int vrpn_Tracker_Remote::unregister_change_handler ( void *  userdata,
vrpn_TRACKERWORKSPACECHANGEHANDLER  handler 
)
inlinevirtual

Definition at line 472 of file vrpn_Tracker.h.

Member Data Documentation

◆ all_sensor_callbacks

◆ d_tracker2roomchange_list

vrpn_Callback_List<vrpn_TRACKERTRACKER2ROOMCB> vrpn_Tracker_Remote::d_tracker2roomchange_list
protected

Definition at line 500 of file vrpn_Tracker.h.

Referenced by handle_tracker2room_change_message().

◆ d_workspacechange_list

vrpn_Callback_List<vrpn_TRACKERWORKSPACECB> vrpn_Tracker_Remote::d_workspacechange_list
protected

Definition at line 501 of file vrpn_Tracker.h.

Referenced by handle_workspace_change_message().

◆ num_sensor_callbacks

unsigned vrpn_Tracker_Remote::num_sensor_callbacks
protected

Definition at line 496 of file vrpn_Tracker.h.

Referenced by ensure_enough_sensor_callbacks(), and ~vrpn_Tracker_Remote().

◆ sensor_callbacks


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