vrpn_Tracker_Crossbow类 参考

类 vrpn_Tracker_Crossbow 继承关系图:

vrpn_Tracker_Crossbow 的协作图:

类
struct	raw_packet

Public 成员函数
	vrpn_Tracker_Crossbow (const char *name, vrpn_Connection *c, const char *port="/dev/ttyS0", long baud=38400, float g_range=2.0f, float ar_range=100.0f)
virtual void	mainloop ()
void	reset ()
	Reset the tracker.
int	get_report ()
vrpn_uint32	get_serial_number ()
const char *	get_version_string ()
void	recalibrate (vrpn_uint16 num_samples=20000)
Public 成员函数 继承自 vrpn_Tracker_Serial
	vrpn_Tracker_Serial (const char *name, vrpn_Connection *c, const char *port="/dev/ttyS1", long baud=38400)
Public 成员函数 继承自 vrpn_Tracker
	vrpn_Tracker (const char *name, vrpn_Connection *c=NULL, const char *tracker_cfg_file_name=NULL)
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 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
void	unbuffer_packet (raw_packet &dest, unsigned char *buffer)
int	validate_packet (const raw_packet &packet)
void	process_packet (const raw_packet &packet)
float	convert_scalar (vrpn_int16 data, float scale) const
void	xb_quat_from_euler (q_type destQuat, double pitch, double roll) const
void	send_report ()
void	ping ()
Protected 成员函数 继承自 vrpn_Tracker
bool	ensure_enough_unit2sensors (unsigned num)
virtual int	register_types (void)
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)
virtual int	encode_unit2sensor_to (char *buf)
virtual int	encode_workspace_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)

Protected 属性
struct timeval	init_time
float	lin_accel_range
float	ang_accel_range
vrpn_uint32	device_serial
char *	device_version
int	just_read_something
Protected 属性 继承自 vrpn_Tracker_Serial
char	portname [VRPN_TRACKER_BUF_SIZE]
long	baudrate
int	serial_fd
unsigned char	buffer [VRPN_TRACKER_BUF_SIZE]
vrpn_uint32	bufcount
Protected 属性 继承自 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 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
静态 Public 成员函数 继承自 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 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

构造及析构函数说明

vrpn_Tracker_Crossbow()

vrpn_Tracker_Crossbow	(	const char *	name,
		vrpn_Connection *	c,
		const char *	port = "/dev/ttyS0",
		long	baud = 38400,
		float	g_range = 2.0f,
		float	ar_range = 100.0f )

The constructor is given the name of the tracker (the name of the sender it should use), the connection on which it is to send its messages, the name of the serial port it is to open (default is /dev/ttyS0 (first serial port in Linux), the baud rate at which it is to communicate (default 38400), the linear acceleration range of the sensor in Gs (default 2), and the angular acceleration range of the sensor in degrees per second (default 100).

成员函数说明

get_report()

int get_report ( )

virtual

Gets a report if one is available, returns 0 if not, 1 if complete report.

实现了 vrpn_Tracker_Serial.

mainloop()

virtual void mainloop ( )

virtual

Uses the get_report, send_report, and reset routines to implement a server

重载 vrpn_Tracker_Serial .

reset()

void reset ( )

virtual

Reset the tracker.

实现了 vrpn_Tracker_Serial.

send_report()

void send_report ( )

protectedvirtual

重载 vrpn_Tracker_Serial .

---

该类的文档由以下文件生成:

• simulink/vrpn/vrpn_Tracker_Crossbow.h