12 bool absolute,
bool reportChanges,
28 d_x.axis = params->
x;
d_y.axis = params->
y;
d_z.axis = params->
z;
37 d_x.af =
this;
d_y.af =
this;
d_z.af =
this;
81 fprintf(stderr,
"vrpn_Tracker_AnalogFly: "
119 fprintf(stderr,
"vrpn_Tracker_AnalogFly: "
144 for ( i =0; i< 4; i++) {
145 for (
int j=0; j< 4; j++) {
185 fprintf(stderr,
"vrpn_Tracker_AnalogFly::~vrpn_Tracker_AnalogFly(): delete failed\n");
197 fprintf(stderr,
"vrpn_Tracker_AnalogFly::~vrpn_Tracker_AnalogFly(): delete failed\n");
213 double value_offset = value - full->
axis.
offset;
214 double value_abs = fabs(value_offset);
219 full->
af->vrpn_Tracker::timestamp = info.
msg_time;
223 if (value_abs <= full->axis.thresh) {
229 if (value_offset >=0) {
261 if (info.
state == 1) {
276 if (full->
axis.
name == NULL) {
return 0; }
285 }
catch (...) { full->
ana = NULL; }
287 printf(
"vrpn_Tracker_AnalogFly: Adding local analog %s\n",
293 }
catch (...) { full->
ana = NULL; }
296 printf(
"vrpn_Tracker_AnalogFly: Adding remote analog %s\n",
300 if (full->
ana == NULL) {
301 fprintf(stderr,
"vrpn_Tracker_AnalogFly: "
302 "Can't open Analog %s\n",full->
axis.
name);
318 if (full->
ana == NULL) {
return 0; }
328 fprintf(stderr,
"vrpn_Tracker_AnalogFly::teardown_channel(): delete failed\n");
340 printf(
"Get a new connection, reset virtual_Tracker\n");
379 if (
d_x.ana != NULL) {
d_x.ana->mainloop(); };
380 if (
d_y.ana != NULL) {
d_y.ana->mainloop(); };
381 if (
d_z.ana != NULL) {
d_z.ana->mainloop(); };
382 if (
d_sx.ana != NULL) {
d_sx.ana->mainloop(); };
383 if (
d_sy.ana != NULL) {
d_sy.ana->mainloop(); };
384 if (
d_sz.ana != NULL) {
d_sz.ana->mainloop(); };
414 fprintf(stderr,
"Tracker AnalogFly: "
415 "cannot write message: tossing\n");
418 fprintf(stderr,
"Tracker AnalogFly: "
419 "No valid connection\n");
446 (
double time_interval)
448 double tx,ty,tz, rx,ry,rz;
456 tx =
d_x.value * time_interval;
457 ty =
d_y.value * time_interval;
458 tz =
d_z.value * time_interval;
465 q_euler_to_col_matrix(diffM, rz, ry, rx);
466 diffM[3][0] = tx; diffM[3][1] = ty; diffM[3][2] = tz;
484 q_from_euler(diff_orient, rz, ry, rx);
485 q_xyz_quat_type diff;
486 q_vec_set(diff.xyz, tx, ty, tz);
487 q_copy(diff.quat, diff_orient);
488 q_xyz_quat_type diff_inverse;
489 q_xyz_quat_invert(&diff_inverse, &diff);
490 q_matrix_type di_matrix;
491 q_to_col_matrix(di_matrix, diff_inverse.quat);
492 di_matrix[3][0] = diff_inverse.xyz[0];
493 di_matrix[3][1] = diff_inverse.xyz[1];
494 di_matrix[3][2] = diff_inverse.xyz[2];
514 diffM[3][0] = 0; diffM[3][1] = 0; diffM[3][2] = 0;
540 for (i=0; i< 3; i++) {
543 for (i=0; i< 4; i++) {
549 (
double elapsedInterval)
const {
566 if (
d_x.value ||
d_y.value ||
d_z.value ||
virtual int unregister_change_handler(void *userdata, vrpn_ANALOGCHANGEHANDLER handler)
virtual int register_change_handler(void *userdata, vrpn_ANALOGCHANGEHANDLER handler)
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.
vrpn_Connection * d_connection
Connection that this object talks to.
vrpn_int32 d_sender_id
Sender ID registered with the connection.
void server_mainloop(void)
Handles functions that all servers should provide in their mainloop() (ping/pong, for example) Should...
vrpn_Tracker_AnalogFly * af
vrpn_TAF_axis sx
Rotation in the positive direction about the three axes.
char * reset_name
Button device that is used to reset the matrix to the origin.
vrpn_TAF_axis x
Translation along each of these three axes.
char * clutch_name
Clutch device that is used to enable relative motion over.
void convert_matrix_to_tracker(void)
vrpn_Button_Remote * d_reset_button
static int VRPN_CALLBACK handle_newConnection(void *, vrpn_HANDLERPARAM)
void update_matrix_based_on_values(double time_interval)
q_matrix_type d_clutchMatrix
int setup_channel(vrpn_TAF_fullaxis *full)
struct timeval d_prevtime
vrpn_Button_Remote * d_clutch_button
static void VRPN_CALLBACK handle_analog_update(void *userdata, const vrpn_ANALOGCB info)
int teardown_channel(vrpn_TAF_fullaxis *full)
bool shouldReport(double elapsedInterval) const
vrpn_Tracker_AnalogFly(const char *name, vrpn_Connection *trackercon, vrpn_Tracker_AnalogFlyParam *params, float update_rate, bool absolute=vrpn_FALSE, bool reportChanges=VRPN_FALSE, bool worldFrame=VRPN_FALSE)
static void VRPN_CALLBACK handle_reset_press(void *userdata, const vrpn_BUTTONCB info)
static void VRPN_CALLBACK handle_clutch_press(void *userdata, const vrpn_BUTTONCB info)
q_matrix_type d_currentMatrix
virtual void mainloop()
Called once through each main loop iteration to handle updates. Remote object mainloop() should call ...
q_matrix_type d_initMatrix
virtual void reset(void)
Reset the current matrix to zero and store it into the tracker position/quaternion location.
virtual ~vrpn_Tracker_AnalogFly(void)
virtual int encode_to(char *buf)
vrpn_Tracker(const char *name, vrpn_Connection *c=NULL, const char *tracker_cfg_file_name=NULL)
vrpn_float64 channel[vrpn_CHANNEL_MAX]
This structure is what is passed to a vrpn_Connection message callback.
const char * vrpn_got_first_connection
These are the strings that define the system-generated message types that tell when connections are r...
const vrpn_uint32 vrpn_CONNECTION_LOW_LATENCY
double vrpn_TimevalDurationSeconds(struct timeval endT, struct timeval startT)
Return the number of seconds between startT and endT as a floating-point value.
#define vrpn_gettimeofday
class VRPN_API vrpn_Connection