#include <vrpn_Poser_Analog.h>
Public Member Functions | |
vrpn_Poser_Analog (const char *name, vrpn_Connection *c, vrpn_Poser_AnalogParam *p, bool act_as_tracker=false) | |
virtual | ~vrpn_Poser_Analog () |
virtual 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_Poser (const char *name, vrpn_Connection *c=NULL) | |
virtual | ~vrpn_Poser (void) |
void | p_print () |
void | p_print_vel () |
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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. | |
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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) |
Protected Member Functions | |
bool | update_Analog_values () |
bool | setup_channel (vrpn_PA_fullaxis *full) |
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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 int | encode_to (char *buf) |
virtual int | encode_vel_to (char *buf) |
virtual void | set_pose (const struct timeval t, const vrpn_float64 position[3], const vrpn_float64 quaternion[4]) |
virtual void | set_pose_relative (const struct timeval t, const vrpn_float64 position_delta[3], const vrpn_float64 quaternion[4]) |
virtual void | set_pose_velocity (const struct timeval t, const vrpn_float64 position[3], const vrpn_float64 quaternion[4], const vrpn_float64 interval) |
virtual void | set_pose_velocity_relative (const struct timeval t, const vrpn_float64 velocity_delta[3], const vrpn_float64 quaternion[4], const vrpn_float64 interval_delta) |
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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() | |
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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) |
Static Protected Member Functions | |
static int VRPN_CALLBACK | handle_change_message (void *userdata, vrpn_HANDLERPARAM p) |
static int VRPN_CALLBACK | handle_vel_change_message (void *userdata, vrpn_HANDLERPARAM p) |
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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_PA_fullaxis | x |
vrpn_PA_fullaxis | y |
vrpn_PA_fullaxis | z |
vrpn_PA_fullaxis | rx |
vrpn_PA_fullaxis | ry |
vrpn_PA_fullaxis | rz |
bool | d_act_as_tracker |
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vrpn_int32 | req_position_m_id |
vrpn_int32 | req_position_relative_m_id |
vrpn_int32 | req_velocity_m_id |
vrpn_int32 | req_velocity_relative_m_id |
vrpn_float64 | p_pos [3] |
vrpn_float64 | p_quat [4] |
vrpn_float64 | p_vel [3] |
vrpn_float64 | p_vel_quat [4] |
vrpn_float64 | p_vel_quat_dt |
struct timeval | p_timestamp |
vrpn_float64 | p_pos_min [3] |
vrpn_float64 | p_pos_max [3] |
vrpn_float64 | p_pos_rot_min [3] |
vrpn_float64 | p_pos_rot_max [3] |
vrpn_float64 | p_vel_min [3] |
vrpn_float64 | p_vel_max [3] |
vrpn_float64 | p_vel_rot_min [3] |
vrpn_float64 | p_vel_rot_max [3] |
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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. | |
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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 |
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 |
Definition at line 85 of file vrpn_Poser_Analog.h.
vrpn_Poser_Analog::vrpn_Poser_Analog | ( | const char * | name, |
vrpn_Connection * | c, | ||
vrpn_Poser_AnalogParam * | p, | ||
bool | act_as_tracker = false ) |
Definition at line 55 of file vrpn_Poser_Analog.C.
References d_act_as_tracker, vrpn_BaseClassUnique::d_connection, vrpn_BaseClassUnique::d_sender_id, handle_change_message(), handle_vel_change_message(), vrpn_Poser::p_pos, vrpn_Poser::p_pos_max, vrpn_Poser::p_pos_min, vrpn_Poser::p_pos_rot_max, vrpn_Poser::p_pos_rot_min, vrpn_Poser::p_quat, vrpn_Poser::p_vel_max, vrpn_Poser::p_vel_min, vrpn_Poser::p_vel_rot_max, vrpn_Poser::p_vel_rot_min, vrpn_Poser_AnalogParam::pos_max, vrpn_Poser_AnalogParam::pos_min, vrpn_Poser_AnalogParam::pos_rot_max, vrpn_Poser_AnalogParam::pos_rot_min, vrpn_BaseClassUnique::register_autodeleted_handler(), vrpn_Poser::req_position_m_id, vrpn_Poser::req_velocity_m_id, rx, vrpn_Poser_AnalogParam::rx, ry, vrpn_Poser_AnalogParam::ry, rz, vrpn_Poser_AnalogParam::rz, setup_channel(), vrpn_Poser_AnalogParam::vel_max, vrpn_Poser_AnalogParam::vel_min, vrpn_Poser_AnalogParam::vel_rot_max, vrpn_Poser_AnalogParam::vel_rot_min, vrpn_Connection, vrpn_Poser::vrpn_Poser(), vrpn_Tracker::vrpn_Tracker(), x, vrpn_Poser_AnalogParam::x, y, vrpn_Poser_AnalogParam::y, z, and vrpn_Poser_AnalogParam::z.
Referenced by handle_change_message(), and handle_vel_change_message().
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Definition at line 146 of file vrpn_Poser_Analog.C.
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Definition at line 174 of file vrpn_Poser_Analog.C.
References vrpn_HANDLERPARAM::buffer, d_act_as_tracker, vrpn_BaseClassUnique::d_connection, vrpn_Tracker::d_quat, vrpn_BaseClassUnique::d_sender_id, vrpn_Tracker::d_sensor, vrpn_HANDLERPARAM::msg_time, vrpn_Poser::p_pos, vrpn_Poser::p_pos_max, vrpn_Poser::p_pos_min, vrpn_Poser::p_quat, vrpn_Poser::p_timestamp, vrpn_Connection::pack_message(), vrpn_HANDLERPARAM::payload_len, vrpn_Tracker::pos, vrpn_Tracker::position_m_id, update_Analog_values(), vrpn_BaseClassUnique::userdata, vrpn_CONNECTION_LOW_LATENCY, vrpn_gettimeofday, vrpn_Poser_Analog(), and vrpn_unbuffer().
Referenced by vrpn_Poser_Analog().
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Definition at line 243 of file vrpn_Poser_Analog.C.
References vrpn_HANDLERPARAM::buffer, d_act_as_tracker, vrpn_BaseClassUnique::d_connection, vrpn_BaseClassUnique::d_sender_id, vrpn_Tracker::d_sensor, vrpn_HANDLERPARAM::msg_time, vrpn_Poser::p_timestamp, vrpn_Poser::p_vel, vrpn_Poser::p_vel_max, vrpn_Poser::p_vel_min, vrpn_Poser::p_vel_quat, vrpn_Poser::p_vel_quat_dt, vrpn_Connection::pack_message(), vrpn_HANDLERPARAM::payload_len, vrpn_BaseClassUnique::userdata, vrpn_Tracker::vel, vrpn_Tracker::vel_quat, vrpn_Tracker::velocity_m_id, vrpn_CONNECTION_LOW_LATENCY, vrpn_gettimeofday, vrpn_Poser_Analog(), and vrpn_unbuffer().
Referenced by vrpn_Poser_Analog().
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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 148 of file vrpn_Poser_Analog.C.
References rx, ry, rz, vrpn_BaseClassUnique::server_mainloop(), x, y, and z.
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Definition at line 18 of file vrpn_Poser_Analog.C.
References vrpn_PA_fullaxis::ana, vrpn_PA_axis::ana_name, vrpn_PA_fullaxis::axis, vrpn_BaseClassUnique::d_connection, and vrpn_Analog_Output_Remote.
Referenced by vrpn_Poser_Analog().
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Definition at line 310 of file vrpn_Poser_Analog.C.
References vrpn_Poser::p_pos, vrpn_CHANNEL_MAX, x, y, and z.
Referenced by handle_change_message().
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Definition at line 99 of file vrpn_Poser_Analog.h.
Referenced by handle_change_message(), handle_vel_change_message(), and vrpn_Poser_Analog().
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Definition at line 96 of file vrpn_Poser_Analog.h.
Referenced by mainloop(), and vrpn_Poser_Analog().
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Definition at line 96 of file vrpn_Poser_Analog.h.
Referenced by mainloop(), and vrpn_Poser_Analog().
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Definition at line 96 of file vrpn_Poser_Analog.h.
Referenced by mainloop(), and vrpn_Poser_Analog().
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Definition at line 96 of file vrpn_Poser_Analog.h.
Referenced by mainloop(), update_Analog_values(), and vrpn_Poser_Analog().
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Definition at line 96 of file vrpn_Poser_Analog.h.
Referenced by mainloop(), update_Analog_values(), and vrpn_Poser_Analog().
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Definition at line 96 of file vrpn_Poser_Analog.h.
Referenced by mainloop(), update_Analog_values(), and vrpn_Poser_Analog().