vrpn_Tracker_OSVRHackerDevKit类 参考

OSVR Hacker Dev Kit HMD The official name of the Razer/Sensics HMD (until they change it again...) is “OSVR Hacker Dev Kit.” 更多...

#include <vrpn_Tracker_OSVRHackerDevKit.h>

类 vrpn_Tracker_OSVRHackerDevKit 继承关系图:

vrpn_Tracker_OSVRHackerDevKit 的协作图:

Public 类型
enum	Status { STATUS_UNKNOWN = 0 , STATUS_NO_VIDEO_INPUT = 1 , STATUS_PORTRAIT_VIDEO_INPUT = 2 , STATUS_LANDSCAPE_VIDEO_INPUT = 3 }

Public 成员函数
	vrpn_Tracker_OSVRHackerDevKit (const char *name, hid_device *dev=NULL, vrpn_Connection *c=NULL)
	Constructor.
	vrpn_Tracker_OSVRHackerDevKit (const char *name, vrpn_Connection *c)
virtual	~vrpn_Tracker_OSVRHackerDevKit ()
	Destructor.
virtual void	mainloop ()
	Standard VRPN mainloop method.
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
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

Protected 成员函数
void	on_data_received (std::size_t bytes, vrpn_uint8 *buffer)
	Extracts the sensor values from each report.
void	shared_init ()
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 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_HidInterface
virtual void	on_data_received (size_t bytes, vrpn_uint8 *buffer)=0
	Derived class reimplements this callback. It is called whenever a read returns some data.
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()
bool	_wasConnected
vrpn_uint16	_messageCount
	Used to forcibly send the analog update every so often
vrpn_uint8	_reportVersion
bool	_knownVersion
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
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_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
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

详细描述

OSVR Hacker Dev Kit HMD The official name of the Razer/Sensics HMD (until they change it again...) is “OSVR Hacker Dev Kit.”

The devkit will have a built-in head tracker.

VID 0x1532 PID 0x0B00

The head tracker shows as a generic HID device

Protocol for it is as follows (in byte offsets):

0: Bits 0-3: Version number, currently 1, 2, or 3 Upper nibble holds additional data for v3+: Bit 4: 1 if video detected, 0 if not. Bit 5: 1 if portrait, 0 if landscape

1: message sequence number (8 bit)

2: Unit quaternion i component LSB 3: Unit quaternion i component MSB

4: Unit quaternion j component LSB 5: Unit quaternion j component MSB

6: Unit quaternion k component LSB 7: Unit quaternion k component MSB

8: Unit quaternion real component LSB 9: Unit quaternion real component MSB

10: Instantaneous angular velocity about X LSB 11: Instantaneous angular velocity about X MSB

12: Instantaneous angular velocity about Y LSB 13: Instantaneous angular velocity about Y MSB

14: Instantaneous angular velocity about Z LSB 15: Instantaneous angular velocity about Z MSB

Each quaternion is presented as signed, 16-bit fixed point, 2’s complement number with a Q point of 14. The components of angular velocity are signed, 16-bit fixed point, 2's complement with Q of 9. Reports are either 32 (in old firmware, early v1 reports) or 16 bytes (most firmware, both v1 and v2) long, and only v2+ reports contain angular velocity data.

v3+ reports also contain additional data in the upper nibble of the version number.

Report version number is exposed as Analog channel 0. Analog channel 1 should be interpreted as follows: 0: Status unknown - reports are < v3 or no connection. 1: No video input. 2: Portrait video input detected. 3: Landscape video input detected.

构造及析构函数说明

vrpn_Tracker_OSVRHackerDevKit() [1/2]

vrpn_Tracker_OSVRHackerDevKit	(	const char *	name,
		hid_device *	dev = NULL,
		vrpn_Connection *	c = NULL )

Constructor.

参数

name	Name of tracker.
dev	Optional Already-opened HIDAPI device for the tracker.
c	Optional vrpn_Connection.

vrpn_Tracker_OSVRHackerDevKit() [2/2]

vrpn_Tracker_OSVRHackerDevKit	(	const char *	name,
		vrpn_Connection *	c )

这是为便于使用而提供的一个重载成员函数.与上面的函数相比，它接受不同类型的参数.

~vrpn_Tracker_OSVRHackerDevKit()

virtual ~vrpn_Tracker_OSVRHackerDevKit ( )

virtual

Destructor.

成员函数说明

mainloop()

virtual void mainloop ( )

virtual

Standard VRPN mainloop method.

实现了 vrpn_BaseClass.

on_data_received()

void on_data_received ( std::size_t bytes, vrpn_uint8 * buffer )

protected

Extracts the sensor values from each report.

类成员变量说明

_messageCount

vrpn_uint16 _messageCount

protected

Used to forcibly send the analog update every so often

_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 and to handle re-connecting after a USB disconnect.

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该类的文档由以下文件生成:

• simulink/vrpn/vrpn_Tracker_OSVRHackerDevKit.h