类 vrpn_Tracker_Fastrak 继承关系图:

vrpn_Tracker_Fastrak 的协作图:

Public 成员函数
	vrpn_Tracker_Fastrak (const char name, vrpn_Connection c, const char port="/dev/ttyS1", long baud=19200, int enable_filtering=1, int numstations=vrpn_FASTRAK_MAX_STATIONS, const char additional_reset_commands=NULL, int is900_timestamps=0)

int	add_fastrak_stylus_button (const char *button_device_name, int sensor, int numbuttons=1)

int	add_is900_button (const char *button_device_name, int sensor, int numbuttons=5)

int	add_is900_analog (const char *analog_device_name, int sensor, double c0Min=-1, double c0Low=0, double c0Hi=0, double c0Max=1, double c1Min=-1, double c1Low=0, double c1Hi=0, double c1Max=1)

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)

virtual void	mainloop ()

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
virtual int	get_report (void)

virtual void	reset ()
	Reset the tracker.

int	set_sensor_output_format (int sensor)
	Augments the basic Fastrak format to include IS900 features if needed

int	report_length (int sensor)
	Augments the basic Fastrak report length to include IS900 features if needed

Protected 成员函数继承自 vrpn_Tracker_Serial
virtual void	send_report (void)

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	reset_time

int	do_filter

int	num_stations

char	add_reset_cmd [2048]

int	num_resets

bool	really_fastrak

int	do_is900_timestamps

struct timeval	is900_zerotime

vrpn_Button_Server *	is900_buttons [vrpn_FASTRAK_MAX_STATIONS]

vrpn_Clipping_Analog_Server *	is900_analogs [vrpn_FASTRAK_MAX_STATIONS]

vrpn_uint32	REPORT_LEN

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_Fastrak()

vrpn_Tracker_Fastrak	(	const char *	name,
		vrpn_Connection *	c,
		const char *	port = "/dev/ttyS1",
		long	baud = 19200,
		int	enable_filtering = 1,
		int	numstations = vrpn_FASTRAK_MAX_STATIONS,
		const char *	additional_reset_commands = NULL,
		int	is900_timestamps = 0 )

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/ttyS1 (first serial port in Linux)), the baud rate at which it is to communicate (default 19200), whether filtering is enabled (default yes), and the number of stations that are possible on this Fastrak (default 4). The station select switches on the front of the Fastrak determine which stations are active. The final parameter is a string that can contain additional commands that are set to the tracker as part of its reset routine. These might be used to set the hemisphere or other things that are not normally included; see the Fastrak manual for a list of these. There can be multiple lines of them but putting <CR> into the string.

成员函数说明

◆ add_is900_analog()

int add_is900_analog	(	const char *	analog_device_name,
		int	sensor,
		double	c0Min = -1,
		double	c0Low = 0,
		double	c0Hi = 0,
		double	c0Max = 1,
		double	c1Min = -1,
		double	c1Low = 0,
		double	c1Hi = 0,
		double	c1Max = 1 )

Add the analog part of an IS900 joystick device to one of the sensors This allows configuration of an InterSense IS-900 The optional parameters specify the clipping and scaling to take the reports from the two joystick axes into the range [-1..1]. The default is unscaled.

◆ add_is900_button()

int add_is900_button	(	const char *	button_device_name,
		int	sensor,
		int	numbuttons = 5 )

Add an IS900 button device to one of the sensors This allows configuration of an InterSense IS-900

◆ get_report()

virtual int get_report ( void )

protectedvirtual

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

实现了 vrpn_Tracker_Serial.

◆ report_length()

int report_length ( int sensor )

protected

Augments the basic Fastrak report length to include IS900 features if needed

◆ reset()

virtual void reset ( )

protectedvirtual

Reset the tracker.

实现了 vrpn_Tracker_Serial.

◆ set_sensor_output_format()

int set_sensor_output_format ( int sensor )

protected

Augments the basic Fastrak format to include IS900 features if needed

该类的文档由以下文件生成:

simulink/vrpn/vrpn_Tracker_Fastrak.h

Public 成员函数

Protected 成员函数

Protected 属性

额外继承的成员函数