5th Dimension Technologies (5dt) "Ultra" USB data glove driver 更多...

#include <vrpn_Analog_5dtUSB.h>

类 vrpn_Analog_5dtUSB 继承关系图:

vrpn_Analog_5dtUSB 的协作图:

Public 成员函数
virtual	~vrpn_Analog_5dtUSB ()
	Destructor

virtual void	mainloop ()
	Standard VRPN mainloop method.

std::string	get_description () const

bool	isLeftHand () const
	Accessor to know if this is a left hand glove.

bool	isRightHand () const
	Accessor to know if this is a right hand glove.

Public 成员函数继承自 vrpn_Analog
	vrpn_Analog (const char name, vrpn_Connection c=NULL)

void	print (void)

vrpn_int32	getNumChannels (void) const

Public 成员函数继承自 vrpn_BaseClass
	vrpn_BaseClass (const char name, vrpn_Connection c=NULL)

Public 成员函数继承自 vrpn_BaseClassUnique
vrpn_Connection *	connectionPtr ()
	Returns a pointer to the connection this object is using

Protected 成员函数
	vrpn_Analog_5dtUSB (vrpn_HidAcceptor filter, int num_sensors, bool isLeftHand, const char name, vrpn_Connection *c=0)
	Protected constructor: use a subclass to specify the glove variant to use.

void	on_data_received (size_t bytes, vrpn_uint8 *buffer)
	Extracts the sensor values from each report.

void	report_changes (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)
	Send report iff changed

void	report (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)
	Send report whether or not changed

Protected 成员函数继承自 vrpn_Analog
virtual int	register_types (void)

virtual vrpn_int32	encode_to (char *buf)

virtual void	report_changes (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY, const struct timeval time=vrpn_ANALOG_NOW)

virtual void	report (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY, const struct timeval time=vrpn_ANALOG_NOW)

Protected 成员函数继承自 vrpn_BaseClass
virtual int	init (void)

virtual int	register_senders (void)

Protected 成员函数继承自 vrpn_BaseClassUnique
int	register_autodeleted_handler (vrpn_int32 type, vrpn_MESSAGEHANDLER handler, void *userdata, vrpn_int32 sender=vrpn_ANY_SENDER)

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)

void	server_mainloop (void)

void	client_mainloop (void)

Protected 成员函数继承自 vrpn_HidInterface
void	send_data (size_t bytes, const vrpn_uint8 *buffer)
	Call this to send data to the device

void	send_feature_report (size_t bytes, const vrpn_uint8 *buffer)

int	get_feature_report (size_t bytes, vrpn_uint8 *buffer)

	vrpn_HidInterface (vrpn_HidAcceptor acceptor, vrpn_uint16 vendor=0, vrpn_uint16 product=0, hid_device device=NULL)

	vrpn_HidInterface (vrpn_HidAcceptor acceptor, hid_device device)

	vrpn_HidInterface (const char device_path, vrpn_HidAcceptor acceptor, vrpn_uint16 vendor=0, vrpn_uint16 product=0)

virtual bool	connected () const
	Returns true iff the last device I/O succeeded

virtual void	update ()

virtual bool	reconnect ()

vrpn_uint16	vendor () const

vrpn_uint16	product () const

int	interface_number () const

Protected 属性
struct timeval	_timestamp
	Timestamp updated during mainloop()

double	_rawVals [16]

bool	_isLeftHand
	Flag for left handedness.

bool	_wasConnected

Protected 属性继承自 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

Protected 属性继承自 vrpn_BaseClassUnique
vrpn_Connection *	d_connection
	Connection that this object talks to

char *	d_servicename

vrpn_int32	d_sender_id
	part

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 属性继承自 vrpn_HidInterface
vrpn_HidAcceptor *	m_acceptor
	This is the HidAcceptor we use when reconnecting.

bool	m_working

vrpn_uint16	m_vendor

vrpn_uint16	m_product

int	m_interface

vrpn_uint16	m_vendor_sought
	What vendor we want

vrpn_uint16	m_product_sought
	What product we want

额外继承的成员函数
Public 属性继承自 vrpn_BaseClassUnique
bool	shutup

静态 Protected 成员函数继承自 vrpn_BaseClassUnique
static int	encode_text_message_to_buffer (char buf, vrpn_TEXT_SEVERITY severity, vrpn_uint32 level, const char msg)

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

详细描述

5th Dimension Technologies (5dt) "Ultra" USB data glove driver

This supports connecting to 5dt gloves over USB that present a HID device interface. This includes the 5DT Data Glove 5 Ultra and the 5DT Data Glove 14 Ultra, as well as either of those using the wireless kit. (I, Ryan Pavlik, have only tested this with the 5DT Data Glove 5 Ultras since that's all I have access to, but support based on what I would expect from a 14-sensor glove is included.)

Each sensor's raw values are exposed as an analog channel (5 or 14) between 0.0 and 1.0. Note that there is pretty significant need for calibration since the used range within the entire representable range is pretty small and seemingly device-dependent. Your code will probably have to at least perform some scaling based on establishing a "min" and "max" for each sensor.

For serial 5dt glove access, see the vrpn_5DT16 (for the 16-sensor model) and vrpn_5dt (for the 5-sensor wired or wireless model, in vrpn_Analog_5dt.h) classes.

The inherited method vrpn_Analog::getNumChannels()

This base class does all the work: the inherited classes just create the right filters and input for the base class.

构造及析构函数说明

◆ ~vrpn_Analog_5dtUSB()

virtual ~vrpn_Analog_5dtUSB ( )

virtual

Destructor

◆ vrpn_Analog_5dtUSB()

vrpn_Analog_5dtUSB	(	vrpn_HidAcceptor *	filter,
		int	num_sensors,
		bool	isLeftHand,
		const char *	name,
		vrpn_Connection *	c = 0 )

protected

Protected constructor: use a subclass to specify the glove variant to use.

成员函数说明

◆ get_description()

std::string get_description ( ) const

Returns a string description of the device we've connected to. Used internally, but also possibly useful externally.

◆ isLeftHand()

bool isLeftHand ( ) const

inline

Accessor to know if this is a left hand glove.

◆ isRightHand()

bool isRightHand ( ) const

inline

Accessor to know if this is a right hand glove.

◆ mainloop()

virtual void mainloop ( )

virtual

Standard VRPN mainloop method.

实现了 vrpn_BaseClass.

◆ on_data_received()

void on_data_received	(	size_t	bytes,
		vrpn_uint8 *	buffer )

protectedvirtual

Extracts the sensor values from each report.

实现了 vrpn_HidInterface.

◆ report()

void report ( vrpn_uint32 class_of_service = vrpn_CONNECTION_LOW_LATENCY )

protected

Send report whether or not changed

◆ report_changes()

void report_changes ( vrpn_uint32 class_of_service = vrpn_CONNECTION_LOW_LATENCY )

protected

Send report iff changed

类成员变量说明

◆ _isLeftHand

bool _isLeftHand

protected

Flag for left handedness.

◆ _rawVals

double _rawVals[16]

protected

The raw values extracted from the report: which ones we use to set analog channels varies based on the kind of device this is.

◆ _timestamp

struct timeval _timestamp

protected

Timestamp updated during mainloop()

◆ _wasConnected

bool _wasConnected

protected

Flag indicating whether we were connected last time through the mainloop. Used to send a "normal"-severity message when we connect with info on the device.

该类的文档由以下文件生成:

simulink/vrpn/vrpn_Analog_5dtUSB.h

Public 成员函数

Protected 成员函数

Protected 属性

额外继承的成员函数

详细描述

构造及析构函数说明

◆ ~vrpn_Analog_5dtUSB()

◆ vrpn_Analog_5dtUSB()

成员函数说明

◆ get_description()

◆ isLeftHand()

◆ isRightHand()

◆ mainloop()

◆ on_data_received()

◆ report()

◆ report_changes()

类成员变量说明

◆ _isLeftHand

◆ _rawVals

◆ _timestamp

◆ _wasConnected