#include <vrpn_Tracker_TrivisioColibri.h>

Inheritance diagram for vrpn_Tracker_TrivisioColibri:

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Collaboration diagram for vrpn_Tracker_TrivisioColibri:

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Public Member Functions
	vrpn_Tracker_TrivisioColibri (const char name, vrpn_Connection c, int numSensors=1, int Hz=60, int bufLen=0)

	~vrpn_Tracker_TrivisioColibri ()

virtual void	mainloop ()
	This function should be called each time through the main loop of the server code. It checks for a report from the tracker and sends it if there is one.

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.

Protected Member Functions
virtual void	get_report ()

virtual void	send_report ()

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()

Protected Attributes
void **	imu

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
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)

Public Attributes inherited from vrpn_BaseClassUnique
bool	shutup

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.

Detailed Description

Definition at line 22 of file vrpn_Tracker_TrivisioColibri.h.

Constructor & Destructor Documentation

◆ vrpn_Tracker_TrivisioColibri()

vrpn_Tracker_TrivisioColibri::vrpn_Tracker_TrivisioColibri	(	const char *	name,
		vrpn_Connection *	c,
		int	numSensors = 1,
		int	Hz = 60,
		int	bufLen = 0 )

Definition at line 43 of file vrpn_Tracker_TrivisioColibri.C.

References imu, vrpn_Tracker::num_sensors, vrpn_Tracker::register_server_handlers(), vrpn_Tracker::status, vrpn_Tracker::vrpn_Tracker(), and vrpn_TRACKER_FAIL.

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◆ ~vrpn_Tracker_TrivisioColibri()

vrpn_Tracker_TrivisioColibri::~vrpn_Tracker_TrivisioColibri ( )

Definition at line 155 of file vrpn_Tracker_TrivisioColibri.C.

References imu, and vrpn_Tracker::num_sensors.

Member Function Documentation

◆ get_report()

void vrpn_Tracker_TrivisioColibri::get_report ( )

protectedvirtual

Definition at line 179 of file vrpn_Tracker_TrivisioColibri.C.

References vrpn_Tracker::d_quat, vrpn_Tracker::d_sensor, imu, vrpn_Tracker::num_sensors, send_report(), vrpn_Tracker::timestamp, and vrpn_gettimeofday.

Referenced by mainloop().

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◆ mainloop()

void vrpn_Tracker_TrivisioColibri::mainloop ( void )

virtual

This function should be called each time through the main loop of the server code. It checks for a report from the tracker and sends it if there is one.

Implements vrpn_BaseClass.

Definition at line 170 of file vrpn_Tracker_TrivisioColibri.C.

References get_report(), and vrpn_BaseClassUnique::server_mainloop().

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