vrpn 07.35
Virtual Reality Peripheral Network
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This class will turn set of two or three analog devices into a tracker by. More...
#include <vrpn_Tracker_IMU.h>
Public Member Functions | |
VRPN_API | vrpn_IMU_SimpleCombiner (const char *name, vrpn_Connection *trackercon, vrpn_Tracker_IMU_Params *params, float update_rate, bool report_changes=VRPN_FALSE) |
virtual VRPN_API | ~vrpn_IMU_SimpleCombiner (void) |
virtual VRPN_API 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 () |
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(). | |
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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. | |
Protected Member Functions | |
void | update_matrix_based_on_values (double time_interval) |
int | setup_vector (vrpn_IMU_Vector *vector, vrpn_ANALOGCHANGEHANDLER f) |
int | teardown_vector (vrpn_IMU_Vector *vector, vrpn_ANALOGCHANGEHANDLER f) |
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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. | |
virtual int | register_types (void)=0 |
Register the types of messages this device sends/receives. 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() | |
Static Protected Member Functions | |
static void VRPN_CALLBACK | handle_analog_update (void *userdata, const vrpn_ANALOGCB info) |
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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. | |
Protected Attributes | |
double | d_update_interval |
struct timeval | d_prevtime |
bool | d_report_changes |
vrpn_IMU_Vector | d_acceleration |
vrpn_IMU_Vector | d_rotational_vel |
vrpn_IMU_Vector | d_magnetometer |
double | d_gravity_restore_rate |
double | d_north_restore_rate |
struct timeval | d_prev_update_time |
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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. | |
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 |
This class will turn set of two or three analog devices into a tracker by.
Definition at line 131 of file vrpn_Tracker_IMU.h.
vrpn_IMU_SimpleCombiner::vrpn_IMU_SimpleCombiner | ( | const char * | name, |
vrpn_Connection * | trackercon, | ||
vrpn_Tracker_IMU_Params * | params, | ||
float | update_rate, | ||
bool | report_changes = VRPN_FALSE |
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Definition at line 228 of file vrpn_Tracker_IMU.C.
References vrpn_IMU_Axis_Params::channels, vrpn_Tracker_IMU_Params::d_acceleration, d_acceleration, d_gravity_restore_rate, d_magnetometer, vrpn_Tracker_IMU_Params::d_magnetometer_name, d_north_restore_rate, d_prev_update_time, d_prevtime, vrpn_Tracker::d_quat, vrpn_Tracker_IMU_Params::d_rotational_vel, d_rotational_vel, handle_analog_update(), vrpn_IMU_Axis_Params::name, vrpn_IMU_Axis_Params::offsets, vrpn_IMU_Vector::params, vrpn_Tracker::pos, vrpn_IMU_Axis_Params::scales, setup_vector(), vrpn_Tracker::timestamp, vrpn_Tracker::vel, vrpn_Tracker::vel_quat, vrpn_Tracker::vel_quat_dt, and vrpn_gettimeofday.
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Definition at line 279 of file vrpn_Tracker_IMU.C.
References d_acceleration, d_magnetometer, d_rotational_vel, handle_analog_update(), and teardown_vector().
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Definition at line 292 of file vrpn_Tracker_IMU.C.
References vrpn_ANALOGCB::channel, vrpn_IMU_Axis_Params::channels, vrpn_ANALOGCB::msg_time, vrpn_IMU_Axis_Params::offsets, vrpn_IMU_Vector::params, vrpn_IMU_Axis_Params::scales, vrpn_IMU_Vector::time, vrpn_BaseClassUnique::userdata, and vrpn_IMU_Vector::values.
Referenced by vrpn_IMU_SimpleCombiner(), and ~vrpn_IMU_SimpleCombiner().
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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 370 of file vrpn_Tracker_IMU.C.
References vrpn_IMU_Vector::ana, d_acceleration, vrpn_BaseClassUnique::d_connection, d_magnetometer, d_prev_update_time, d_prevtime, d_rotational_vel, vrpn_BaseClassUnique::d_sender_id, d_update_interval, vrpn_Tracker::encode_to(), vrpn_Tracker::encode_vel_to(), vrpn_Analog_Remote::mainloop(), vrpn_Connection::pack_message(), vrpn_Tracker::position_m_id, vrpn_BaseClassUnique::server_mainloop(), update_matrix_based_on_values(), vrpn_Tracker::velocity_m_id, vrpn_CONNECTION_LOW_LATENCY, vrpn_gettimeofday, and vrpn_TimevalDurationSeconds().
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Definition at line 310 of file vrpn_Tracker_IMU.C.
References vrpn_IMU_Vector::ana, vrpn_BaseClassUnique::d_connection, vrpn_IMU_Axis_Params::name, vrpn_IMU_Vector::params, and vrpn_Analog_Remote::register_change_handler().
Referenced by vrpn_IMU_SimpleCombiner().
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Definition at line 348 of file vrpn_Tracker_IMU.C.
References vrpn_IMU_Vector::ana, and vrpn_Analog_Remote::unregister_change_handler().
Referenced by ~vrpn_IMU_SimpleCombiner().
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Definition at line 425 of file vrpn_Tracker_IMU.C.
References vrpn_IMU_Vector::ana, d_acceleration, d_gravity_restore_rate, d_magnetometer, d_north_restore_rate, vrpn_Tracker::d_quat, d_rotational_vel, vrpn_IMU_Vector::values, vrpn_Tracker::vel_quat, and vrpn_Tracker::vel_quat_dt.
Referenced by mainloop().
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Definition at line 146 of file vrpn_Tracker_IMU.h.
Referenced by mainloop(), update_matrix_based_on_values(), vrpn_IMU_SimpleCombiner(), and ~vrpn_IMU_SimpleCombiner().
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Definition at line 150 of file vrpn_Tracker_IMU.h.
Referenced by update_matrix_based_on_values(), and vrpn_IMU_SimpleCombiner().
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Definition at line 148 of file vrpn_Tracker_IMU.h.
Referenced by mainloop(), update_matrix_based_on_values(), vrpn_IMU_SimpleCombiner(), and ~vrpn_IMU_SimpleCombiner().
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Definition at line 151 of file vrpn_Tracker_IMU.h.
Referenced by update_matrix_based_on_values(), and vrpn_IMU_SimpleCombiner().
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Definition at line 153 of file vrpn_Tracker_IMU.h.
Referenced by mainloop(), and vrpn_IMU_SimpleCombiner().
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Definition at line 143 of file vrpn_Tracker_IMU.h.
Referenced by mainloop(), and vrpn_IMU_SimpleCombiner().
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Definition at line 144 of file vrpn_Tracker_IMU.h.
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Definition at line 147 of file vrpn_Tracker_IMU.h.
Referenced by mainloop(), update_matrix_based_on_values(), vrpn_IMU_SimpleCombiner(), and ~vrpn_IMU_SimpleCombiner().
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Definition at line 142 of file vrpn_Tracker_IMU.h.
Referenced by mainloop().