This class will turn a button device into a tracker by interpreting. More...

#include <vrpn_Tracker_ButtonFly.h>

Inheritance diagram for vrpn_Tracker_ButtonFly:

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Collaboration diagram for vrpn_Tracker_ButtonFly:

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Public Member Functions
	vrpn_Tracker_ButtonFly (const char name, vrpn_Connection trackercon, vrpn_Tracker_ButtonFlyParam *params, float update_rate, bool reportChanges=VRPN_FALSE)

virtual	~vrpn_Tracker_ButtonFly (void)

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().

virtual void	reset (void)
	Reset the current matrix to zero and store it into the tracker position/quaternion location.

void	update (q_matrix_type &)

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_Connection *	connectionPtr ()
	Returns a pointer to the connection this object is using.

Static Public Member Functions
static int VRPN_CALLBACK	handle_newConnection (void *, vrpn_HANDLERPARAM)

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	update_matrix_based_on_values (double time_interval)

void	convert_matrix_to_tracker (void)

bool	shouldReport (double elapsedInterval)

int	setup_channel (vrpn_TBF_fullaxis *full)

int	teardown_channel (vrpn_TBF_fullaxis *full)

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_velocity_update (void *userdata, const vrpn_ANALOGCB info)

static void VRPN_CALLBACK	handle_rotation_update (void *userdata, const vrpn_ANALOGCB info)

static void VRPN_CALLBACK	handle_button_update (void *userdata, const vrpn_BUTTONCB info)

static void VRPN_CALLBACK	handle_reset_press (void *userdata, const vrpn_BUTTONCB 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
double	d_update_interval

struct timeval	d_prevtime

bool	d_reportChanges

vrpn_TBF_fullaxis	d_axes [vrpn_BUTTONFLY_MAXAXES]

int	d_num_axes

vrpn_Analog_Remote *	d_vel_scale
	Analog device that scales the translation.

char	d_vel_scale_name [200]

int	d_vel_scale_channel

float	d_vel_scale_offset

float	d_vel_scale_scale

float	d_vel_scale_power

float	d_vel_scale_value

vrpn_Analog_Remote *	d_rot_scale
	Analog device that scales the rotation.

char	d_rot_scale_name [200]

int	d_rot_scale_channel

float	d_rot_scale_offset

float	d_rot_scale_scale

float	d_rot_scale_power

float	d_rot_scale_value

vrpn_Button_Remote *	d_reset_button
	Button that resets the transformation.

int	d_which_button

q_matrix_type	d_initMatrix
	Initial, current, and velocity matrices for the tracker.

q_matrix_type	d_currentMatrix

q_matrix_type	d_velMatrix

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_Pos *	unit2sensor

vrpn_Tracker_Quat *	unit2sensor_quat

unsigned	num_unit2sensors

vrpn_float64	workspace_min [3]

vrpn_float64	workspace_max [3]

int	status

Protected Attributes inherited from vrpn_BaseClassUnique
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
Public Attributes inherited from vrpn_BaseClassUnique
bool	shutup

Detailed Description

This class will turn a button device into a tracker by interpreting.

Definition at line 117 of file vrpn_Tracker_ButtonFly.h.

Constructor & Destructor Documentation

◆ vrpn_Tracker_ButtonFly()

vrpn_Tracker_ButtonFly::vrpn_Tracker_ButtonFly	(	const char *	name,
		vrpn_Connection *	trackercon,
		vrpn_Tracker_ButtonFlyParam *	params,
		float	update_rate,
		bool	reportChanges = VRPN_FALSE )

Definition at line 11 of file vrpn_Tracker_ButtonFly.C.

References vrpn_Tracker_ButtonFlyParam::axes, d_axes, d_num_axes, d_reportChanges, d_rot_scale, d_rot_scale_value, d_update_interval, d_vel_scale, d_vel_scale_value, vrpn_Tracker_ButtonFlyParam::num_axes, setup_channel(), vrpn_Tracker_ButtonFlyParam::vel_scale_name, vrpn_Connection, and vrpn_Tracker::vrpn_Tracker().

Referenced by handle_newConnection(), handle_rotation_update(), and handle_velocity_update().

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◆ ~vrpn_Tracker_ButtonFly()

vrpn_Tracker_ButtonFly::~vrpn_Tracker_ButtonFly ( void )

virtual

Definition at line 127 of file vrpn_Tracker_ButtonFly.C.

References d_axes, d_num_axes, d_rot_scale, d_vel_scale, handle_rotation_update(), handle_velocity_update(), and teardown_channel().

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Member Function Documentation

◆ convert_matrix_to_tracker()

void vrpn_Tracker_ButtonFly::convert_matrix_to_tracker ( void )

protected

Definition at line 464 of file vrpn_Tracker_ButtonFly.C.

References d_currentMatrix, vrpn_Tracker::d_quat, and vrpn_Tracker::pos.

Referenced by handle_button_update(), reset(), and update_matrix_based_on_values().

◆ handle_button_update()

void vrpn_Tracker_ButtonFly::handle_button_update	(	void *	userdata,
		const vrpn_BUTTONCB	info )

staticprotected

Definition at line 277 of file vrpn_Tracker_ButtonFly.C.

References vrpn_TBF_axis::absolute, vrpn_TBF_fullaxis::active, vrpn_TBF_fullaxis::axis, vrpn_TBF_fullaxis::bf, vrpn_BUTTONCB::button, vrpn_TBF_axis::channel, convert_matrix_to_tracker(), d_currentMatrix, vrpn_TBF_axis::rot, vrpn_BUTTONCB::state, vrpn_BaseClassUnique::userdata, vrpn_TBF_axis::vec, and VRPN_PI.

Referenced by setup_channel(), and teardown_channel().

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◆ handle_newConnection()

int vrpn_Tracker_ButtonFly::handle_newConnection	(	void *	userdata,
		vrpn_HANDLERPARAM	)

static

Definition at line 330 of file vrpn_Tracker_ButtonFly.C.

References vrpn_BaseClassUnique::userdata, and vrpn_Tracker_ButtonFly().

Referenced by update().

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◆ handle_reset_press()

static void VRPN_CALLBACK vrpn_Tracker_ButtonFly::handle_reset_press	(	void *	userdata,
		const vrpn_BUTTONCB	info )

staticprotected

References vrpn_BaseClassUnique::userdata, and VRPN_CALLBACK.

◆ handle_rotation_update()

void vrpn_Tracker_ButtonFly::handle_rotation_update	(	void *	userdata,
		const vrpn_ANALOGCB	info )

staticprotected

Definition at line 250 of file vrpn_Tracker_ButtonFly.C.

References vrpn_ANALOGCB::channel, d_rot_scale_channel, d_rot_scale_offset, d_rot_scale_power, d_rot_scale_scale, d_rot_scale_value, vrpn_BaseClassUnique::userdata, and vrpn_Tracker_ButtonFly().

Referenced by ~vrpn_Tracker_ButtonFly().

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◆ handle_velocity_update()

void vrpn_Tracker_ButtonFly::handle_velocity_update	(	void *	userdata,
		const vrpn_ANALOGCB	info )

staticprotected

Definition at line 224 of file vrpn_Tracker_ButtonFly.C.

References vrpn_ANALOGCB::channel, d_vel_scale_channel, d_vel_scale_offset, d_vel_scale_power, d_vel_scale_scale, d_vel_scale_value, vrpn_BaseClassUnique::userdata, and vrpn_Tracker_ButtonFly().

Referenced by ~vrpn_Tracker_ButtonFly().

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◆ mainloop()

void vrpn_Tracker_ButtonFly::mainloop ( )

virtual

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 358 of file vrpn_Tracker_ButtonFly.C.

References d_axes, vrpn_BaseClassUnique::d_connection, d_num_axes, d_prevtime, d_rot_scale, vrpn_BaseClassUnique::d_sender_id, d_update_interval, d_vel_scale, vrpn_Tracker::encode_to(), vrpn_Tracker::position_m_id, vrpn_BaseClassUnique::server_mainloop(), shouldReport(), vrpn_Tracker::timestamp, update_matrix_based_on_values(), vrpn_CONNECTION_LOW_LATENCY, vrpn_gettimeofday, and vrpn_TimevalDurationSeconds().

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◆ reset()

void vrpn_Tracker_ButtonFly::reset ( void )

virtual

Reset the current matrix to zero and store it into the tracker position/quaternion location.

Definition at line 347 of file vrpn_Tracker_ButtonFly.C.

References convert_matrix_to_tracker(), d_currentMatrix, d_initMatrix, d_prevtime, and vrpn_gettimeofday.

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◆ setup_channel()

int vrpn_Tracker_ButtonFly::setup_channel ( vrpn_TBF_fullaxis * full )

protected

Definition at line 162 of file vrpn_Tracker_ButtonFly.C.

References vrpn_TBF_fullaxis::axis, vrpn_TBF_fullaxis::btn, vrpn_BaseClassUnique::d_connection, handle_button_update(), vrpn_TBF_axis::name, and vrpn_Button_Remote::register_change_handler().

Referenced by vrpn_Tracker_ButtonFly().

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◆ shouldReport()

bool vrpn_Tracker_ButtonFly::shouldReport ( double elapsedInterval )

protected

Definition at line 479 of file vrpn_Tracker_ButtonFly.C.

References d_axes, d_num_axes, d_reportChanges, and d_update_interval.

Referenced by mainloop().

◆ teardown_channel()

int vrpn_Tracker_ButtonFly::teardown_channel ( vrpn_TBF_fullaxis * full )

protected

Definition at line 198 of file vrpn_Tracker_ButtonFly.C.

References vrpn_TBF_fullaxis::btn, handle_button_update(), and vrpn_Button_Remote::unregister_change_handler().

Referenced by ~vrpn_Tracker_ButtonFly().

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◆ update()

void vrpn_Tracker_ButtonFly::update ( q_matrix_type & )

References handle_newConnection(), and VRPN_CALLBACK.

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◆ update_matrix_based_on_values()

void vrpn_Tracker_ButtonFly::update_matrix_based_on_values ( double time_interval )

protected

Definition at line 427 of file vrpn_Tracker_ButtonFly.C.

References convert_matrix_to_tracker(), d_axes, d_currentMatrix, d_num_axes, d_rot_scale_value, d_vel_scale_value, and VRPN_PI.

Referenced by mainloop().

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Member Data Documentation

◆ d_axes

vrpn_TBF_fullaxis vrpn_Tracker_ButtonFly::d_axes[vrpn_BUTTONFLY_MAXAXES]

protected

Definition at line 139 of file vrpn_Tracker_ButtonFly.h.

Referenced by mainloop(), shouldReport(), update_matrix_based_on_values(), vrpn_Tracker_ButtonFly(), and ~vrpn_Tracker_ButtonFly().

◆ d_currentMatrix

q_matrix_type vrpn_Tracker_ButtonFly::d_currentMatrix

protected

Definition at line 165 of file vrpn_Tracker_ButtonFly.h.

Referenced by convert_matrix_to_tracker(), handle_button_update(), reset(), and update_matrix_based_on_values().

◆ d_initMatrix

q_matrix_type vrpn_Tracker_ButtonFly::d_initMatrix

protected

Initial, current, and velocity matrices for the tracker.

Definition at line 165 of file vrpn_Tracker_ButtonFly.h.

Referenced by reset().

◆ d_num_axes

int vrpn_Tracker_ButtonFly::d_num_axes

protected

Definition at line 140 of file vrpn_Tracker_ButtonFly.h.

Referenced by mainloop(), shouldReport(), update_matrix_based_on_values(), vrpn_Tracker_ButtonFly(), and ~vrpn_Tracker_ButtonFly().

◆ d_prevtime

struct timeval vrpn_Tracker_ButtonFly::d_prevtime

protected

Definition at line 136 of file vrpn_Tracker_ButtonFly.h.

Referenced by mainloop(), and reset().

◆ d_reportChanges

bool vrpn_Tracker_ButtonFly::d_reportChanges

protected

Definition at line 137 of file vrpn_Tracker_ButtonFly.h.

Referenced by shouldReport(), and vrpn_Tracker_ButtonFly().

◆ d_reset_button

vrpn_Button_Remote* vrpn_Tracker_ButtonFly::d_reset_button

protected

Button that resets the transformation.

Definition at line 161 of file vrpn_Tracker_ButtonFly.h.

◆ d_rot_scale

vrpn_Analog_Remote* vrpn_Tracker_ButtonFly::d_rot_scale

protected

Analog device that scales the rotation.

Definition at line 152 of file vrpn_Tracker_ButtonFly.h.

Referenced by mainloop(), vrpn_Tracker_ButtonFly(), and ~vrpn_Tracker_ButtonFly().

◆ d_rot_scale_channel

int vrpn_Tracker_ButtonFly::d_rot_scale_channel

protected

Definition at line 154 of file vrpn_Tracker_ButtonFly.h.

Referenced by handle_rotation_update().

◆ d_rot_scale_name

char vrpn_Tracker_ButtonFly::d_rot_scale_name[200]

protected

Definition at line 153 of file vrpn_Tracker_ButtonFly.h.

◆ d_rot_scale_offset

float vrpn_Tracker_ButtonFly::d_rot_scale_offset

protected

Definition at line 155 of file vrpn_Tracker_ButtonFly.h.

Referenced by handle_rotation_update().

◆ d_rot_scale_power

float vrpn_Tracker_ButtonFly::d_rot_scale_power

protected

Definition at line 157 of file vrpn_Tracker_ButtonFly.h.

Referenced by handle_rotation_update().

◆ d_rot_scale_scale

float vrpn_Tracker_ButtonFly::d_rot_scale_scale

protected

Definition at line 156 of file vrpn_Tracker_ButtonFly.h.

Referenced by handle_rotation_update().

◆ d_rot_scale_value

float vrpn_Tracker_ButtonFly::d_rot_scale_value

protected

Definition at line 158 of file vrpn_Tracker_ButtonFly.h.

Referenced by handle_rotation_update(), update_matrix_based_on_values(), and vrpn_Tracker_ButtonFly().

◆ d_update_interval

double vrpn_Tracker_ButtonFly::d_update_interval

protected

Definition at line 135 of file vrpn_Tracker_ButtonFly.h.

Referenced by mainloop(), shouldReport(), and vrpn_Tracker_ButtonFly().

◆ d_vel_scale

vrpn_Analog_Remote* vrpn_Tracker_ButtonFly::d_vel_scale

protected

Analog device that scales the translation.

Definition at line 143 of file vrpn_Tracker_ButtonFly.h.

Referenced by mainloop(), vrpn_Tracker_ButtonFly(), and ~vrpn_Tracker_ButtonFly().

◆ d_vel_scale_channel

int vrpn_Tracker_ButtonFly::d_vel_scale_channel

protected

Definition at line 145 of file vrpn_Tracker_ButtonFly.h.

Referenced by handle_velocity_update().

◆ d_vel_scale_name

char vrpn_Tracker_ButtonFly::d_vel_scale_name[200]

protected

Definition at line 144 of file vrpn_Tracker_ButtonFly.h.

◆ d_vel_scale_offset

float vrpn_Tracker_ButtonFly::d_vel_scale_offset

protected

Definition at line 146 of file vrpn_Tracker_ButtonFly.h.

Referenced by handle_velocity_update().

◆ d_vel_scale_power

float vrpn_Tracker_ButtonFly::d_vel_scale_power

protected

Definition at line 148 of file vrpn_Tracker_ButtonFly.h.

Referenced by handle_velocity_update().

◆ d_vel_scale_scale

float vrpn_Tracker_ButtonFly::d_vel_scale_scale

protected

Definition at line 147 of file vrpn_Tracker_ButtonFly.h.

Referenced by handle_velocity_update().

◆ d_vel_scale_value

float vrpn_Tracker_ButtonFly::d_vel_scale_value

protected

Definition at line 149 of file vrpn_Tracker_ButtonFly.h.

Referenced by handle_velocity_update(), update_matrix_based_on_values(), and vrpn_Tracker_ButtonFly().

◆ d_velMatrix

q_matrix_type vrpn_Tracker_ButtonFly::d_velMatrix

protected

Definition at line 165 of file vrpn_Tracker_ButtonFly.h.

◆ d_which_button

int vrpn_Tracker_ButtonFly::d_which_button

protected

Definition at line 162 of file vrpn_Tracker_ButtonFly.h.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ vrpn_Tracker_ButtonFly()

◆ ~vrpn_Tracker_ButtonFly()

Member Function Documentation

◆ convert_matrix_to_tracker()

◆ handle_button_update()

◆ handle_newConnection()

◆ handle_reset_press()

◆ handle_rotation_update()

◆ handle_velocity_update()

◆ mainloop()

◆ reset()

◆ setup_channel()

◆ shouldReport()

◆ teardown_channel()

◆ update()

◆ update_matrix_based_on_values()

Member Data Documentation

◆ d_axes

◆ d_currentMatrix

◆ d_initMatrix

◆ d_num_axes

◆ d_prevtime

◆ d_reportChanges

◆ d_reset_button

◆ d_rot_scale

◆ d_rot_scale_channel

◆ d_rot_scale_name

◆ d_rot_scale_offset

◆ d_rot_scale_power

◆ d_rot_scale_scale

◆ d_rot_scale_value

◆ d_update_interval

◆ d_vel_scale

◆ d_vel_scale_channel

◆ d_vel_scale_name

◆ d_vel_scale_offset

◆ d_vel_scale_power

◆ d_vel_scale_scale

◆ d_vel_scale_value

◆ d_velMatrix

◆ d_which_button