Normalizes the three directions for a magnetometer into a unit vector. More...
#include <vrpn_Tracker_IMU.h>
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. | |
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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. | |
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. | |
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vrpn_Analog (const char *name, vrpn_Connection *c=NULL) | |
void | print (void) |
vrpn_int32 | getNumChannels (void) const |
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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 () |
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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 | |
int | setup_vector (vrpn_IMU_Vector *vector) |
int | teardown_vector (vrpn_IMU_Vector *vector) |
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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) |
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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. | |
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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_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] |
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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 |
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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 |
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.
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.
name | The name to give to the Analog_Server output device. |
output_con | The connection to report on. |
x | The parameters for the X axis. |
y | The parameters for the Y axis. |
z | The parameters for the Z axis. |
update_rate | How 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_changes | If 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_report_changes, d_update_interval, d_vector, vrpn_Analog::num_channel, vrpn_Analog_Server::report_changes(), setup_vector(), vrpn_Analog::timestamp, vrpn_Analog_Server::vrpn_Analog_Server(), and vrpn_gettimeofday.
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Definition at line 52 of file vrpn_Tracker_IMU.C.
References d_vector, and teardown_vector().
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Definition at line 63 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, vrpn_IMU_Vector::values, and VRPN_CALLBACK.
Referenced by setup_vector(), and teardown_vector().
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virtual |
Override base class function.
Reimplemented from vrpn_Analog_Server.
Definition at line 145 of file vrpn_Tracker_IMU.C.
References vrpn_Analog::channel, vrpn_BaseClassUnique::d_connection, d_maxes, d_mins, d_prevtime, d_report_changes, d_update_interval, d_vector, vrpn_Analog_Server::report(), vrpn_Analog_Server::report_changes(), vrpn_BaseClassUnique::server_mainloop(), vrpn_Analog::timestamp, vrpn_gettimeofday, and vrpn_TimevalDurationSeconds().
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Definition at line 81 of file vrpn_Tracker_IMU.C.
References vrpn_IMU_Vector::ana, vrpn_BaseClassUnique::d_connection, handle_analog_update(), vrpn_IMU_Axis_Params::name, vrpn_IMU_Vector::params, vrpn_Analog_Remote::register_change_handler(), vrpn_IMU_Vector::time, and vrpn_gettimeofday.
Referenced by vrpn_IMU_Magnetometer().
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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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Definition at line 98 of file vrpn_Tracker_IMU.h.
Referenced by mainloop(), and vrpn_IMU_Magnetometer().
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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().
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Definition at line 91 of file vrpn_Tracker_IMU.h.
Referenced by mainloop(), and vrpn_IMU_Magnetometer().
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Definition at line 92 of file vrpn_Tracker_IMU.h.
Referenced by mainloop(), and vrpn_IMU_Magnetometer().
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Definition at line 90 of file vrpn_Tracker_IMU.h.
Referenced by mainloop(), and vrpn_IMU_Magnetometer().
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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().