#include <vrpn_Tracker_PhaseSpace.h>

Inheritance diagram for vrpn_Tracker_PhaseSpace:

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Collaboration diagram for vrpn_Tracker_PhaseSpace:

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Public Member Functions
	vrpn_Tracker_PhaseSpace (const char name, vrpn_Connection c)
	vrpn_Tracker_PhaseSpace (const char name, vrpn_Connection c, const char *device, float frequency, int readflag, int slaveflag=0)
	~vrpn_Tracker_PhaseSpace ()
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().
bool	load (FILE *file)
bool	InitOWL ()
bool	enableStreaming (bool enable)
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.
Public Member Functions inherited from vrpn_Button_Filter
virtual void	set_momentary (vrpn_int32 which_button)
virtual void	set_toggle (vrpn_int32 which_button, vrpn_int32 current_state)
virtual void	set_all_momentary (void)
virtual void	set_all_toggle (vrpn_int32 default_state)
void	set_alerts (vrpn_int32)
Public Member Functions inherited from vrpn_Button
	vrpn_Button (const char name, vrpn_Connection c=NULL)
virtual	~vrpn_Button (void)
void	print (void)
Public Member Functions inherited from vrpn_Clipping_Analog_Server
	vrpn_Clipping_Analog_Server (const char name, vrpn_Connection c, vrpn_int32 numChannels=vrpn_CHANNEL_MAX)
int	setClipValues (int channel, double min, double lowzero, double highzero, double max)
	Set the clipping values for the specified channel. min maps to -1, values between lowzero and highzero map to 0, max maps to 1. Values less than min map to -1, values larger than max map to 1. Default for each channel is -1,0,0,1 It is possible to compress the range to [0..1] by setting the minimum equal to the lowzero. Returns 0 on success, -1 on failure.
int	setChannelValue (int channel, double value)
	This method should be used to set the value of a channel. It will be scaled and clipped as described in setClipValues. It returns 0 on success and -1 on failure.
Public Member Functions inherited from vrpn_Analog_Server
	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.
Public Member Functions inherited from vrpn_Analog
	vrpn_Analog (const char name, vrpn_Connection c=NULL)
void	print (void)
vrpn_int32	getNumChannels (void) const

Static Public Member Functions
static int VRPN_CALLBACK	handle_update_rate_request (void *userdata, vrpn_HANDLERPARAM p)
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
bool	debug
Public Attributes inherited from vrpn_BaseClassUnique
bool	shutup
Public Attributes inherited from vrpn_Button_Filter
vrpn_int32	buttonstate [vrpn_BUTTON_MAX_BUTTONS]

Protected Member Functions
virtual int	get_report (void)
virtual void	send_report (void)
bool	create_trackers ()
void	set_pose (const OWL::Rigid &r)
void	report_marker (vrpn_int32 sensor, const OWL::Marker &m)
void	report_rigid (vrpn_int32 sensor, const OWL::Rigid &r, bool is_stylus=false)
void	report_button (vrpn_int32 sensor, int value)
void	report_button_analog (vrpn_int32 sensor, int value)
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 Member Functions inherited from vrpn_Button_Filter
	vrpn_Button_Filter (const char , vrpn_Connection c=NULL)
virtual vrpn_int32	encode_states_to (char *buf)
	Encode a message describing the state of all buttons.
virtual void	report_changes (void)
Protected Member Functions inherited from vrpn_Button
virtual int	register_types (void)
	Register the types of messages this device sends/receives. Return 0 on success, -1 on fail.
virtual void	report_states (void)
virtual vrpn_int32	encode_to (char *buf, vrpn_int32 button, vrpn_int32 state)
	Encode a message describing the new state of a button.
Protected Member Functions inherited from vrpn_Analog
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)

Protected Attributes
OWL::Context	context
std::string	device
std::string	options
bool	drop_frames
SensorManager *	smgr
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.
Protected Attributes inherited from vrpn_Button_Filter
int	send_alerts
vrpn_int32	alert_message_id
Protected Attributes inherited from vrpn_Button
unsigned char	buttons [vrpn_BUTTON_MAX_BUTTONS]
unsigned char	lastbuttons [vrpn_BUTTON_MAX_BUTTONS]
vrpn_int32	minrate [vrpn_BUTTON_MAX_BUTTONS]
vrpn_int32	num_buttons
struct timeval	timestamp
vrpn_int32	change_message_id
vrpn_int32	states_message_id
vrpn_int32	admin_message_id
Protected Attributes inherited from vrpn_Clipping_Analog_Server
clipvals_struct	clipvals [vrpn_CHANNEL_MAX]
Protected Attributes inherited from vrpn_Analog
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

Additional Inherited Members
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.
Static Protected Member Functions inherited from vrpn_Button_Filter
static int VRPN_CALLBACK	handle_ping_message (void *userdata, vrpn_HANDLERPARAM p)

Detailed Description

Definition at line 16 of file vrpn_Tracker_PhaseSpace.h.

Constructor & Destructor Documentation

◆ vrpn_Tracker_PhaseSpace() [1/2]

vrpn_Tracker_PhaseSpace::vrpn_Tracker_PhaseSpace	(	const char *	name,
		vrpn_Connection *	c )

Definition at line 116 of file vrpn_Tracker_PhaseSpace.C.

References vrpn_BaseClassUnique::d_connection, vrpn_BaseClassUnique::d_sender_id, debug, drop_frames, handle_update_rate_request(), vrpn_Button::num_buttons, vrpn_BaseClassUnique::register_autodeleted_handler(), smgr, vrpn_Tracker::update_rate_id, vrpn_Button_Filter::vrpn_Button_Filter(), vrpn_Clipping_Analog_Server::vrpn_Clipping_Analog_Server(), and vrpn_Tracker::vrpn_Tracker().

Referenced by handle_update_rate_request(), and vrpn_Tracker_PhaseSpace().

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◆ vrpn_Tracker_PhaseSpace() [2/2]

vrpn_Tracker_PhaseSpace::vrpn_Tracker_PhaseSpace	(	const char *	name,
		vrpn_Connection *	c,
		const char *	device,
		float	frequency,
		int	readflag,
		int	slaveflag = 0 )

References device, and vrpn_Tracker_PhaseSpace().

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◆ ~vrpn_Tracker_PhaseSpace()

vrpn_Tracker_PhaseSpace::~vrpn_Tracker_PhaseSpace ( )

Definition at line 139 of file vrpn_Tracker_PhaseSpace.C.

References context.

Member Function Documentation

◆ create_trackers()

bool vrpn_Tracker_PhaseSpace::create_trackers ( )

protected

Definition at line 200 of file vrpn_Tracker_PhaseSpace.C.

References context, debug, smgr, and vrpn_BaseClassUnique::type.

Referenced by InitOWL().

◆ enableStreaming()

bool vrpn_Tracker_PhaseSpace::enableStreaming ( bool enable )

Definition at line 719 of file vrpn_Tracker_PhaseSpace.C.

References context.

◆ get_report()

int vrpn_Tracker_PhaseSpace::get_report ( void )

protectedvirtual

Definition at line 865 of file vrpn_Tracker_PhaseSpace.C.

References context, debug, drop_frames, find(), vrpn_Analog::report_changes(), vrpn_Button_Filter::report_changes(), report_marker(), report_rigid(), smgr, and vrpn_Tracker::timestamp.

Referenced by mainloop().

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◆ handle_update_rate_request()

int vrpn_Tracker_PhaseSpace::handle_update_rate_request	(	void *	userdata,
		vrpn_HANDLERPARAM	p )

static

Definition at line 1003 of file vrpn_Tracker_PhaseSpace.C.

References vrpn_HANDLERPARAM::buffer, context, debug, vrpn_BaseClassUnique::userdata, vrpn_Tracker_PhaseSpace(), and vrpn_unbuffer().

Referenced by vrpn_Tracker_PhaseSpace().

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◆ InitOWL()

bool vrpn_Tracker_PhaseSpace::InitOWL ( )

Definition at line 147 of file vrpn_Tracker_PhaseSpace.C.

References context, create_trackers(), debug, device, drop_frames, MM_TO_METERS, and options.

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◆ load()

bool vrpn_Tracker_PhaseSpace::load ( FILE * file )

Definition at line 618 of file vrpn_Tracker_PhaseSpace.C.

References debug, device, drop_frames, options, smgr, and trim().

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◆ mainloop()

void vrpn_Tracker_PhaseSpace::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 267 of file vrpn_Tracker_PhaseSpace.C.

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

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