vrpn 07.35
Virtual Reality Peripheral Network
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Use angular velocity reports, if available, to predict the future orientation. More...
#include <vrpn_Tracker_Filter.h>
Classes | |
struct | RotationState |
Public Member Functions | |
vrpn_Tracker_DeadReckoning_Rotation (std::string myName, vrpn_Connection *c, std::string origTrackerName, vrpn_int32 numSensors=1, vrpn_float64 predictionTime=1.0/60.0, bool estimateVelocity=true) | |
~vrpn_Tracker_DeadReckoning_Rotation () | |
void | mainloop () |
This function should be called each time through app mainloop. | |
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vrpn_Tracker_Server (const char *name, vrpn_Connection *c, vrpn_int32 sensors=1) | |
virtual void | mainloop () |
This function should be called each time through app mainloop. | |
virtual int | report_pose (const int sensor, const struct timeval t, const vrpn_float64 position[3], const vrpn_float64 quaternion[4], const vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY) |
These functions should be called to report changes in state, once per sensor. | |
virtual int | report_pose_velocity (const int sensor, const struct timeval t, const vrpn_float64 position[3], const vrpn_float64 quaternion[4], const vrpn_float64 interval, const vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY) |
virtual int | report_pose_acceleration (const int sensor, const struct timeval t, const vrpn_float64 position[3], const vrpn_float64 quaternion[4], const vrpn_float64 interval, const vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY) |
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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. | |
Static Public Member Functions | |
static int | test (void) |
Test the class to make sure it functions as it should. Returns 0 on success,. | |
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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) |
Protected Member Functions | |
void | sendNewPrediction (vrpn_int32 sensor) |
Send a prediction based on the time of the new information; date the. | |
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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_tracker_report (void *userdata, const vrpn_TRACKERCB info) |
Static callback handler for tracker reports and tracker velocity reports. | |
static void VRPN_CALLBACK | handle_tracker_velocity_report (void *userdata, const vrpn_TRACKERVELCB 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 | |
vrpn_float64 | d_predictionTime |
vrpn_int32 | d_numSensors |
vrpn_Tracker_Remote * | d_origTracker |
std::vector< RotationState > | d_rotationStates |
bool | d_estimateVelocity |
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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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bool | shutup |
vrpn_MESSAGEHANDLER | handler |
vrpn_int32 | sender |
vrpn_int32 | type |
void * | userdata |
Use angular velocity reports, if available, to predict the future orientation.
Definition at line 72 of file vrpn_Tracker_Filter.h.
vrpn_Tracker_DeadReckoning_Rotation::vrpn_Tracker_DeadReckoning_Rotation | ( | std::string | myName, |
vrpn_Connection * | c, | ||
std::string | origTrackerName, | ||
vrpn_int32 | numSensors = 1 , |
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vrpn_float64 | predictionTime = 1.0 / 60.0 , |
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bool | estimateVelocity = true |
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Definition at line 122 of file vrpn_Tracker_Filter.C.
References vrpn_Tracker_DeadReckoning_Rotation::RotationState::d_lastReportTime, d_numSensors, d_origTracker, d_predictionTime, vrpn_Tracker_DeadReckoning_Rotation::RotationState::d_receivedAngularVelocityReport, vrpn_Tracker_DeadReckoning_Rotation::RotationState::d_rotationAmount, vrpn_Tracker_DeadReckoning_Rotation::RotationState::d_rotationInterval, d_rotationStates, handle_tracker_report(), handle_tracker_velocity_report(), vrpn_Tracker::num_sensors, vrpn_Tracker_Remote::register_change_handler(), and vrpn_Tracker::register_server_handlers().
vrpn_Tracker_DeadReckoning_Rotation::~vrpn_Tracker_DeadReckoning_Rotation | ( | ) |
Definition at line 179 of file vrpn_Tracker_Filter.C.
References d_origTracker.
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staticprotected |
Static callback handler for tracker reports and tracker velocity reports.
Definition at line 260 of file vrpn_Tracker_Filter.C.
References d_estimateVelocity, vrpn_Tracker_DeadReckoning_Rotation::RotationState::d_lastOrientation, vrpn_Tracker_DeadReckoning_Rotation::RotationState::d_lastPosition, vrpn_Tracker_DeadReckoning_Rotation::RotationState::d_lastReportTime, d_numSensors, vrpn_Tracker_DeadReckoning_Rotation::RotationState::d_receivedAngularVelocityReport, vrpn_Tracker_DeadReckoning_Rotation::RotationState::d_rotationAmount, vrpn_Tracker_DeadReckoning_Rotation::RotationState::d_rotationInterval, d_rotationStates, vrpn_TRACKERCB::msg_time, vrpn_TRACKERCB::pos, vrpn_TRACKERCB::quat, vrpn_BaseClassUnique::send_text_message(), sendNewPrediction(), vrpn_TRACKERCB::sensor, vrpn_BaseClassUnique::userdata, vrpn_TEXT_WARNING, and vrpn_TimevalDurationSeconds().
Referenced by vrpn_Tracker_DeadReckoning_Rotation().
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staticprotected |
Definition at line 310 of file vrpn_Tracker_Filter.C.
References d_numSensors, vrpn_Tracker_DeadReckoning_Rotation::RotationState::d_receivedAngularVelocityReport, vrpn_Tracker_DeadReckoning_Rotation::RotationState::d_rotationAmount, vrpn_Tracker_DeadReckoning_Rotation::RotationState::d_rotationInterval, d_rotationStates, vrpn_TRACKERVELCB::msg_time, vrpn_Tracker_Server::report_pose_velocity(), vrpn_BaseClassUnique::send_text_message(), sendNewPrediction(), vrpn_TRACKERVELCB::sensor, vrpn_BaseClassUnique::userdata, vrpn_TRACKERVELCB::vel, vrpn_TRACKERVELCB::vel_quat, vrpn_TRACKERVELCB::vel_quat_dt, and vrpn_TEXT_WARNING.
Referenced by vrpn_Tracker_DeadReckoning_Rotation().
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virtual |
This function should be called each time through app mainloop.
Reimplemented from vrpn_Tracker_Server.
Definition at line 173 of file vrpn_Tracker_Filter.C.
References vrpn_BaseClassUnique::server_mainloop().
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protected |
Send a prediction based on the time of the new information; date the.
Definition at line 189 of file vrpn_Tracker_Filter.C.
References d_estimateVelocity, vrpn_Tracker_DeadReckoning_Rotation::RotationState::d_lastOrientation, vrpn_Tracker_DeadReckoning_Rotation::RotationState::d_lastPosition, vrpn_Tracker_DeadReckoning_Rotation::RotationState::d_lastReportTime, d_numSensors, d_predictionTime, vrpn_Tracker_DeadReckoning_Rotation::RotationState::d_receivedAngularVelocityReport, vrpn_Tracker_DeadReckoning_Rotation::RotationState::d_rotationAmount, vrpn_Tracker_DeadReckoning_Rotation::RotationState::d_rotationInterval, d_rotationStates, vrpn_Tracker_Server::report_pose(), vrpn_BaseClassUnique::send_text_message(), vrpn_TEXT_WARNING, and vrpn_TimevalSum().
Referenced by handle_tracker_report(), and handle_tracker_velocity_report().
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Test the class to make sure it functions as it should. Returns 0 on success,.
Definition at line 392 of file vrpn_Tracker_Filter.C.
References vrpn_Tracker_Server::mainloop(), vrpn_Tracker_Remote::mainloop(), vrpn_Connection::mainloop(), vrpn_Tracker::pos, vrpn_Tracker_Remote::register_change_handler(), vrpn_Connection::removeReference(), vrpn_Tracker_Server::report_pose(), vrpn_Tracker_Server::report_pose_velocity(), vrpn_Tracker::vel, vrpn_create_server_connection(), vrpn_gettimeofday, VRPN_PI, and vrpn_TimevalSum().
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Definition at line 122 of file vrpn_Tracker_Filter.h.
Referenced by handle_tracker_report(), and sendNewPrediction().
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Definition at line 98 of file vrpn_Tracker_Filter.h.
Referenced by handle_tracker_report(), handle_tracker_velocity_report(), sendNewPrediction(), and vrpn_Tracker_DeadReckoning_Rotation().
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Definition at line 99 of file vrpn_Tracker_Filter.h.
Referenced by vrpn_Tracker_DeadReckoning_Rotation(), and ~vrpn_Tracker_DeadReckoning_Rotation().
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Definition at line 97 of file vrpn_Tracker_Filter.h.
Referenced by sendNewPrediction(), and vrpn_Tracker_DeadReckoning_Rotation().
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Definition at line 109 of file vrpn_Tracker_Filter.h.
Referenced by handle_tracker_report(), handle_tracker_velocity_report(), sendNewPrediction(), and vrpn_Tracker_DeadReckoning_Rotation().