vrpn_Tracker_WiimoteHead类 参考

Provides a tracker device given data from a Wii Remote and LED glasses. 更多...

#include <vrpn_Tracker_WiimoteHead.h>

类 vrpn_Tracker_WiimoteHead 继承关系图:

vrpn_Tracker_WiimoteHead 的协作图:

Public 成员函数
	vrpn_Tracker_WiimoteHead (const char *name, vrpn_Connection *trackercon, const char *wiimote, float update_rate, float led_spacing=0.145)
	constructor
virtual	~vrpn_Tracker_WiimoteHead ()
	destructor
virtual void	reset ()
	reset pose, gravity transform, and cached points and gravity
void	setup_wiimote ()
	set up connection to wiimote-like analog device
virtual void	mainloop ()
	VRPN mainloop function
void	update_pose ()
	function to drive the full pose update process
void	report ()
	Pack and send tracker report
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 VRPN_CALLBACK VRPN_CALLBACK	handle_connection (void *, vrpn_HANDLERPARAM)
	Callback triggered when a new client connects to the tracker
static void VRPN_CALLBACK VRPN_CALLBACK	handle_analog_update (void *userdata, const vrpn_ANALOGCB info)
	Callback triggered when our data source issues an update
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 类型
enum	FlipState { FLIP_NORMAL , FLIP_180 , FLIP_UNKNOWN }

Protected 成员函数
void	_update_gravity_moving_avg ()
	based on cached gravity data, use a moving average to update the tracker's stored gravity transform.
void	_update_2_LED_pose (q_xyz_quat_type &newPose)
	Create tracker-relative pose estimate based on sensor location of 2 tracked points.
void	_update_flip_state ()
	If flip state is unknown, set flip state appropriately.
void	_convert_pose_to_tracker ()
	Set the vrpn_Tracker position and rotation to that indicated by our d_currentPose;
void	_reset_gravity ()
	reset gravity transform and cached gravity vectors
void	_reset_points ()
	reset cached points, point count, and flip state,
void	_reset_pose ()
	reset current pose, last report time, and tracker pose
bool	_should_report (double elapsedInterval) const
	return true if we have new data or max time elapsed
bool	_have_gravity () const
	return true if our gravity values look like real data
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
const char *	d_name
	Tracker device name
const double	d_update_interval
	maximum time between updates, in seconds
const double	d_blobDistance
	distance between LEDs on glasses, in meters
FlipState	d_flipState
	Whether we need to flip the order of the tracked points before calculating a pose.
struct timeval	d_prevtime
	Time of last tracker report issued
double	d_vX [4]
double	d_vY [4]
double	d_vSize [4]
double	d_points
vrpn_Analog_Remote *	d_ana
	Source of analog data, traditionally vrpn_WiiMote Must present analog channels in this order:
q_xyz_quat_type	d_gravityXform
	Gravity correction transformation
q_xyz_quat_type	d_currentPose
	Current pose estimate
bool	d_contact
	Flag: Have we received the first message from the Wiimote?
bool	d_lock
	Flag: Does the tracking algorithm report a lock?
bool	d_updated
	Flag: Have we received updated Wiimote data since last report?
bool	d_gravDirty
	Flag: Have we received updated gravity data since last gravity update?
q_vec_type	d_vGravAntepenultimate
q_vec_type	d_vGravPenultimate
q_vec_type	d_vGrav
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
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

Provides a tracker device given data from a Wii Remote and LED glasses.

Assumes a reasonably-stationary Wii Remote (on a tripod, for example) and two LEDs on a pair of glasses, some fixed distance (default 0.145m) apart. You can use the "Johnny Lee" glasses with this.

Reports poses in a right-hand coordinate system, y-up, that is always level with respect to gravity no matter how your Wii Remote is tilted.

构造及析构函数说明

vrpn_Tracker_WiimoteHead()

vrpn_Tracker_WiimoteHead	(	const char *	name,
		vrpn_Connection *	trackercon,
		const char *	wiimote,
		float	update_rate,
		float	led_spacing = 0.145 )

constructor

参数

name	Name for the tracker device to expose
trackercon	Connection to provide tracker device over
wiimote	VRPN device name for existing vrpn_WiiMote device or device with a compatible interface - see vrpn_Tracker_WiimoteHead::d_ana for more info. If it starts with *, the server connection will be used instead of creating a new connection.
update_rate	Minimum number of updates per second to issue
led_spacing	Distance between LEDs in meters (0.145 is default)

~vrpn_Tracker_WiimoteHead()

virtual ~vrpn_Tracker_WiimoteHead ( )

virtual

destructor

成员函数说明

_convert_pose_to_tracker()

void _convert_pose_to_tracker ( )

protected

Set the vrpn_Tracker position and rotation to that indicated by our d_currentPose;

_have_gravity()

bool _have_gravity ( ) const

protected

return true if our gravity values look like real data

_reset_gravity()

void _reset_gravity ( )

protected

reset gravity transform and cached gravity vectors

_reset_points()

void _reset_points ( )

protected

reset cached points, point count, and flip state,

_reset_pose()

void _reset_pose ( )

protected

reset current pose, last report time, and tracker pose

_should_report()

bool _should_report ( double elapsedInterval ) const

protected

return true if we have new data or max time elapsed

_update_2_LED_pose()

void _update_2_LED_pose ( q_xyz_quat_type & newPose )

protected

Create tracker-relative pose estimate based on sensor location of 2 tracked points.

If d_points == 2:

• 后置条件

  d_currentPose contains a tracker-relative pose estimate

• 后置条件

  d_lock == true Else:

• 后置条件

  d_lock == false

• 后置条件

  d_flipState = FLIP_UNKNOWN

_update_flip_state()

void _update_flip_state ( )

protected

If flip state is unknown, set flip state appropriately.

后置条件

d_flipState=FLIP_NORMAL if the up vector created by d_currentPose has a positive y component (tracked object is right side up)

d_flipState=FLIP_180 if the up vector created by d_currentPose does not have a positive y component (tracked object appears upside-down), which means that you should re-try the pose computation with the points in the opposite order.

_update_gravity_moving_avg()

void _update_gravity_moving_avg ( )

protected

based on cached gravity data, use a moving average to update the tracker's stored gravity transform.

The moving average is computed over the last 3 unique gravity reports. The transform is the rotation required to rotate the averaged gravity vector to (0, 1, 0).

handle_analog_update()

static void VRPN_CALLBACK VRPN_CALLBACK handle_analog_update ( void * userdata, const vrpn_ANALOGCB info )

static

Callback triggered when our data source issues an update

handle_connection()

static int VRPN_CALLBACK VRPN_CALLBACK handle_connection ( void * , vrpn_HANDLERPARAM  )

static

Callback triggered when a new client connects to the tracker

mainloop()

virtual void mainloop ( )

virtual

VRPN mainloop function

实现了 vrpn_BaseClass.

report()

void report

(

)

Pack and send tracker report

reset()

virtual void reset ( )

virtual

reset pose, gravity transform, and cached points and gravity

setup_wiimote()

void setup_wiimote

(

)

set up connection to wiimote-like analog device

update_pose()

void update_pose

(

)

function to drive the full pose update process

If we claim to have a tracker lock after updating, we will transform the current pose by the gravity transform before continuing.

类成员变量说明

d_ana

vrpn_Analog_Remote* d_ana

protected

Source of analog data, traditionally vrpn_WiiMote Must present analog channels in this order:

• x, y, z components of vector opposed to gravity
  • (0,0,1) is nominal Earth gravity
• four 3-tuples containing either:
  • (x, y, size) for a tracked point (ranges [0, 1023], [0, 1023], [1,16])
  • (-1, -1, -1) as a place holder - point not seen

d_blobDistance

const double d_blobDistance

protected

distance between LEDs on glasses, in meters

d_contact

bool d_contact

protected

Flag: Have we received the first message from the Wiimote?

d_currentPose

q_xyz_quat_type d_currentPose

protected

Current pose estimate

d_flipState

FlipState d_flipState

protected

Whether we need to flip the order of the tracked points before calculating a pose.

d_gravDirty

bool d_gravDirty

protected

Flag: Have we received updated gravity data since last gravity update?

d_gravityXform

q_xyz_quat_type d_gravityXform

protected

Gravity correction transformation

d_lock

bool d_lock

protected

Flag: Does the tracking algorithm report a lock?

d_name

const char* d_name

protected

Tracker device name

d_prevtime

struct timeval d_prevtime

protected

Time of last tracker report issued

d_update_interval

const double d_update_interval

protected

maximum time between updates, in seconds

d_updated

bool d_updated

protected

Flag: Have we received updated Wiimote data since last report?

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该类的文档由以下文件生成:

• simulink/vrpn/vrpn_Tracker_WiimoteHead.h