vrpn_IMU_Magnetometer类 参考

Normalizes the three directions for a magnetometer into a unit vector. 更多...

#include <vrpn_Tracker_IMU.h>

类 vrpn_IMU_Magnetometer 继承关系图:

vrpn_IMU_Magnetometer 的协作图:

Public 成员函数
VRPN_API	vrpn_IMU_Magnetometer (std::string const &name, vrpn_Connection *output_con, vrpn_IMU_Axis_Params params, float update_rate, bool report_changes=VRPN_FALSE)
	Constructor
virtual VRPN_API void	mainloop ()
	Override base class function.
Public 成员函数 继承自 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)
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
int	setup_vector (vrpn_IMU_Vector *vector)
int	teardown_vector (vrpn_IMU_Vector *vector)
Protected 成员函数 继承自 vrpn_Analog
virtual int	register_types (void)
virtual vrpn_int32	encode_to (char *buf)
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)

静态 Protected 成员函数
static void VRPN_CALLBACK	handle_analog_update (void *userdata, const vrpn_ANALOGCB info)
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

Protected 属性
double	d_update_interval
struct timeval	d_prevtime
bool	d_report_changes
vrpn_IMU_Vector	d_vector
	Axes to handle gathering and scaling the required data.
double	d_mins [3]
	Minimum, maximum, and current values for each axis.
double	d_maxes [3]
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

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

详细描述

Normalizes the three directions for a magnetometer into a unit vector.

This class acts as an analog-to-analog filter. It is given three axes to manage. For each axis, it keeps track of the minimum and maximum value it has ever received and maps the current value into the range -1..1 based on that range. It then normalizes the resulting vector, producing a unit vector that should auto-calibrate itself over time to provide a unit direction vector (as a 3-output analog) pointing in the direction of magnetic north.

构造及析构函数说明

vrpn_IMU_Magnetometer()

VRPN_API vrpn_IMU_Magnetometer	(	std::string const &	name,
		vrpn_Connection *	output_con,
		vrpn_IMU_Axis_Params	params,
		float	update_rate,
		bool	report_changes = VRPN_FALSE )

Constructor

参数

name	The name to give to the Analog_Server output device.
output_con	The connection to report on.
x	The parameters for the X axis.
y	The parameters for the Y axis.
z	The parameters for the Z axis.
update_rate	How often to send reports. If report_changes is true, it will only report at most this often. If report_changes is false, it will send reports at this rate whether it has received new values or not.
report_changes	If true, only reports values when at least one of them a changed. If false, report values at the specified rate whether or not they have changed.

成员函数说明

mainloop()

virtual VRPN_API void mainloop ( )

virtual

Override base class function.

重载 vrpn_Analog_Server .

类成员变量说明

d_mins

double d_mins[3]

protected

Minimum, maximum, and current values for each axis.

d_vector

vrpn_IMU_Vector d_vector

protected

Axes to handle gathering and scaling the required data.

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该类的文档由以下文件生成:

• simulink/vrpn/vrpn_Tracker_IMU.h