vrpn 07.35
Virtual Reality Peripheral Network
 
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vrpn_Tracker_DeadReckoning_Rotation Class Reference

Use angular velocity reports, if available, to predict the future orientation. More...

#include <vrpn_Tracker_Filter.h>

Inheritance diagram for vrpn_Tracker_DeadReckoning_Rotation:
Collaboration diagram for vrpn_Tracker_DeadReckoning_Rotation:

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.
 
- Public Member Functions inherited from vrpn_Tracker_Server
 vrpn_Tracker_Server (const char *name, vrpn_Connection *c, vrpn_int32 sensors=1)
 
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)
 
- 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 ()
 
- 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.
 

Static Public Member Functions

static int test (void)
 Test the class to make sure it functions as it should. Returns 0 on success,.
 
- 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 sendNewPrediction (vrpn_int32 sensor)
 Send a prediction based on the time of the new information; date the.
 
- 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.
 
- 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_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)
 
- 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_float64 d_predictionTime
 
vrpn_int32 d_numSensors
 
vrpn_Tracker_Remoted_origTracker
 
std::vector< RotationStated_rotationStates
 
bool d_estimateVelocity
 
- 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

- Public Attributes inherited from vrpn_BaseClassUnique
bool shutup
 

Detailed Description

Use angular velocity reports, if available, to predict the future orientation.

Definition at line 72 of file vrpn_Tracker_Filter.h.

Constructor & Destructor Documentation

◆ vrpn_Tracker_DeadReckoning_Rotation()

◆ ~vrpn_Tracker_DeadReckoning_Rotation()

vrpn_Tracker_DeadReckoning_Rotation::~vrpn_Tracker_DeadReckoning_Rotation ( )

Definition at line 179 of file vrpn_Tracker_Filter.C.

References d_origTracker.

Member Function Documentation

◆ handle_tracker_report()

◆ handle_tracker_velocity_report()

◆ mainloop()

void vrpn_Tracker_DeadReckoning_Rotation::mainloop ( void )
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().

Here is the call graph for this function:

◆ sendNewPrediction()

◆ test()

Member Data Documentation

◆ d_estimateVelocity

bool vrpn_Tracker_DeadReckoning_Rotation::d_estimateVelocity
protected

◆ d_numSensors

vrpn_int32 vrpn_Tracker_DeadReckoning_Rotation::d_numSensors
protected

◆ d_origTracker

vrpn_Tracker_Remote* vrpn_Tracker_DeadReckoning_Rotation::d_origTracker
protected

◆ d_predictionTime

vrpn_float64 vrpn_Tracker_DeadReckoning_Rotation::d_predictionTime
protected

Definition at line 97 of file vrpn_Tracker_Filter.h.

Referenced by sendNewPrediction(), and vrpn_Tracker_DeadReckoning_Rotation().

◆ d_rotationStates

std::vector<RotationState> vrpn_Tracker_DeadReckoning_Rotation::d_rotationStates
protected

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