Use angular velocity reports, if available, to predict the future orientation 更多...

#include <vrpn_Tracker_Filter.h>

类 vrpn_Tracker_DeadReckoning_Rotation 继承关系图:

vrpn_Tracker_DeadReckoning_Rotation 的协作图:

类
struct	RotationState

Public 成员函数
	vrpn_Tracker_DeadReckoning_Rotation (std::string myName, vrpn_Connection *c, std::string origTrackerName, vrpn_int32 numSensors=1, vrpn_float64 predictionTime=1.0/60.0, bool estimateVelocity=true)

void	mainloop ()
	This function should be called each time through app mainloop.

Public 成员函数继承自 vrpn_Tracker_Server
	vrpn_Tracker_Server (const char name, vrpn_Connection c, vrpn_int32 sensors=1)

virtual int	report_pose (const int sensor, const struct timeval t, const vrpn_float64 position[3], const vrpn_float64 quaternion[4], const vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)

virtual int	report_pose_velocity (const int sensor, const struct timeval t, const vrpn_float64 position[3], const vrpn_float64 quaternion[4], const vrpn_float64 interval, const vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)

virtual int	report_pose_acceleration (const int sensor, const struct timeval t, const vrpn_float64 position[3], const vrpn_float64 quaternion[4], const vrpn_float64 interval, const vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)

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

静态 Public 成员函数
static int	test (void)
	Test the class to make sure it functions as it should. Returns 0 on success,

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)

Protected 成员函数
void	sendNewPrediction (vrpn_int32 sensor)
	Send a prediction based on the time of the new information; date the

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)

静态 Protected 成员函数
static void VRPN_CALLBACK	handle_tracker_report (void *userdata, const vrpn_TRACKERCB info)
	Static callback handler for tracker reports and tracker velocity reports

static void VRPN_CALLBACK	handle_tracker_velocity_report (void *userdata, const vrpn_TRACKERVELCB 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
vrpn_float64	d_predictionTime

vrpn_int32	d_numSensors

vrpn_Tracker_Remote *	d_origTracker

vrpn_vector< RotationState >	d_rotationStates

bool	d_estimateVelocity

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
Public 属性继承自 vrpn_BaseClassUnique
bool	shutup

详细描述

Use angular velocity reports, if available, to predict the future orientation

成员函数说明

◆ handle_tracker_report()

static void VRPN_CALLBACK handle_tracker_report	(	void *	userdata,
		const vrpn_TRACKERCB	info )

staticprotected

Static callback handler for tracker reports and tracker velocity reports

◆ mainloop()

void mainloop ( )

virtual

This function should be called each time through app mainloop.

重载 vrpn_Tracker_Server .

◆ sendNewPrediction()

void sendNewPrediction ( vrpn_int32 sensor )

protected

Send a prediction based on the time of the new information; date the

◆ test()

static int test ( void )

static

Test the class to make sure it functions as it should. Returns 0 on success,

该类的文档由以下文件生成:

simulink/vrpn/vrpn_Tracker_Filter.h

类

Public 成员函数

静态 Public 成员函数

Protected 成员函数

静态 Protected 成员函数