#include <vrpn_Tracker.h>

Inheritance diagram for vrpn_Tracker_Spin:

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Collaboration diagram for vrpn_Tracker_Spin:

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Public Member Functions
	vrpn_Tracker_Spin (const char name, vrpn_Connection c, vrpn_int32 sensors=1, vrpn_float64 reportRateHz=1.0, vrpn_float64 axisX=0, vrpn_float64 axisY=0, vrpn_float64 axisZ=1, vrpn_float64 spinRateHz=0.5)
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().
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 Attributes
vrpn_float64	update_rate
vrpn_float64	x
vrpn_float64	y
vrpn_float64	z
vrpn_float64	spin_rate_Hz
struct timeval	start
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
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 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 247 of file vrpn_Tracker.h.

Constructor & Destructor Documentation

◆ vrpn_Tracker_Spin()

vrpn_Tracker_Spin::vrpn_Tracker_Spin	(	const char *	name,
		vrpn_Connection *	c,
		vrpn_int32	sensors = 1,
		vrpn_float64	reportRateHz = 1.0,
		vrpn_float64	axisX = 0,
		vrpn_float64	axisY = 0,
		vrpn_float64	axisZ = 1,
		vrpn_float64	spinRateHz = 0.5 )

Definition at line 733 of file vrpn_Tracker.C.

References vrpn_Tracker::num_sensors, vrpn_Tracker::register_server_handlers(), spin_rate_Hz, start, update_rate, vrpn_Tracker::vel_quat, vrpn_Tracker::vel_quat_dt, vrpn_gettimeofday, vrpn_Tracker::vrpn_Tracker(), x, y, and z.

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Member Function Documentation

◆ mainloop()

void vrpn_Tracker_Spin::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 774 of file vrpn_Tracker.C.

References vrpn_Tracker::accel_m_id, vrpn_BaseClassUnique::d_connection, vrpn_Tracker::d_quat, vrpn_BaseClassUnique::d_sender_id, vrpn_Tracker::d_sensor, vrpn_Tracker::encode_acc_to(), vrpn_Tracker::encode_to(), vrpn_Tracker::encode_vel_to(), vrpn_Tracker::num_sensors, vrpn_Tracker::position_m_id, vrpn_BaseClassUnique::server_mainloop(), spin_rate_Hz, start, vrpn_Tracker::timestamp, update_rate, vrpn_Tracker::velocity_m_id, vrpn_CONNECTION_LOW_LATENCY, vrpn_gettimeofday, vrpn_TimevalDurationSeconds(), x, y, and z.