Class to support reading data from a wired YEI 3Space unit. 更多...

#include <vrpn_YEI_3Space.h>

类 vrpn_YEI_3Space_Sensor 继承关系图:

vrpn_YEI_3Space_Sensor 的协作图:

Public 成员函数
	vrpn_YEI_3Space_Sensor (const char name, vrpn_Connection c, const char port, int baud=115200, bool calibrate_gyros_on_setup=false, bool tare_on_setup=false, double frames_per_second=50, double red_LED_color=0, double green_LED_color=0, double blue_LED_color=0, int LED_mode=1, const char reset_commands[]=NULL)
	Constructor.

virtual	~vrpn_YEI_3Space_Sensor ()
	Destructor.

Public 成员函数继承自 vrpn_YEI_3Space
	vrpn_YEI_3Space (const char name, vrpn_Connection c, double frames_per_second=50, const char *reset_commands[]=NULL)
	Constructor.

virtual	~vrpn_YEI_3Space ()
	Destructor.

virtual void	mainloop ()
	Called once through each main loop iteration to handle updates.

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

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

Public 成员函数继承自 vrpn_Button_Filter
virtual void	set_momentary (vrpn_int32 which_button)

virtual void	set_toggle (vrpn_int32 which_button, vrpn_int32 current_state)

virtual void	set_all_momentary (void)

virtual void	set_all_toggle (vrpn_int32 default_state)

void	set_alerts (vrpn_int32)

Public 成员函数继承自 vrpn_Button
	vrpn_Button (const char name, vrpn_Connection c=NULL)

void	print (void)

Protected 成员函数
virtual void	flush_input (void)
	Flush any incoming characters in the communications channel.

virtual bool	get_report (void)

bool	send_binary_command (const unsigned char *cmd, int len)

bool	send_ascii_command (const char *cmd)

bool	receive_LED_mode_response (struct timeval *timeout=NULL)

bool	receive_LED_values_response (struct timeval *timeout=NULL)

Protected 成员函数继承自 vrpn_YEI_3Space
void	init (bool calibrate_gyros_on_setup, bool tare_on_setup, double red_LED_color, double green_LED_color, double blue_LED_color, int LED_mode)

virtual int	reset (void)

virtual void	handle_report (unsigned char *report)

virtual void	report_changes (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)
	send report iff changed

virtual void	report (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)
	send report whether or not changed

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_Button_Filter
	vrpn_Button_Filter (const char , vrpn_Connection c=NULL)

virtual vrpn_int32	encode_states_to (char *buf)

virtual void	report_changes (void)

Protected 成员函数继承自 vrpn_Button
virtual int	register_types (void)

virtual void	report_states (void)

virtual vrpn_int32	encode_to (char *buf, vrpn_int32 button, vrpn_int32 state)

Protected 属性
int	d_serial_fd

Protected 属性继承自 vrpn_YEI_3Space
char **	d_reset_commands

int	d_reset_command_count

int	d_status

double	d_frames_per_second

int	d_LED_mode

vrpn_float32	d_LED_color [3]

unsigned char	d_buffer [128]

unsigned	d_expected_characters

unsigned	d_characters_read

struct timeval	timestamp

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_Button_Filter
int	send_alerts

vrpn_int32	alert_message_id

Protected 属性继承自 vrpn_Button
unsigned char	buttons [vrpn_BUTTON_MAX_BUTTONS]

unsigned char	lastbuttons [vrpn_BUTTON_MAX_BUTTONS]

vrpn_int32	minrate [vrpn_BUTTON_MAX_BUTTONS]

vrpn_int32	num_buttons

struct timeval	timestamp

vrpn_int32	change_message_id

vrpn_int32	states_message_id

vrpn_int32	admin_message_id

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

Public 属性继承自 vrpn_Button_Filter
vrpn_int32	buttonstate [vrpn_BUTTON_MAX_BUTTONS]

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

静态 Protected 成员函数继承自 vrpn_Button_Filter
static int VRPN_CALLBACK	handle_ping_message (void *userdata, vrpn_HANDLERPARAM p)

详细描述

Class to support reading data from a wired YEI 3Space unit.

构造及析构函数说明

◆ vrpn_YEI_3Space_Sensor()

vrpn_YEI_3Space_Sensor	(	const char *	name,
		vrpn_Connection *	c,
		const char *	port,
		int	baud = 115200,
		bool	calibrate_gyros_on_setup = false,
		bool	tare_on_setup = false,
		double	frames_per_second = 50,
		double	red_LED_color = 0,
		double	green_LED_color = 0,
		double	blue_LED_color = 0,
		int	LED_mode = 1,
		const char *	reset_commands[] = NULL )

Constructor.

参数

name	Name for the device
c	Connection to use.
port	serial port to connect to
baud	Baud rate - 115200 is default.
calibrate_gyros_on_setup	- true to cause this to happen
tare_on_setup	- true to cause this to happen (usually manufacturing-time operation!)
frames_per_second	- How many frames/second to read
red_LED_color	- brightness of LED (0-1)
green_LED_color	- brightness of LED (0-1)
blue_LED_color	- brightness of LED (0-1)
LED_state	- 0 = standard, 1 = static
reset_commands	- Array of pointers to commands, NULL for end. These will be sent after other commands whenever the tracker is reset. This will be copied; the caller is responsible for freeing any storage after calling the constructor.

◆ ~vrpn_YEI_3Space_Sensor()

virtual ~vrpn_YEI_3Space_Sensor ( )

virtual

Destructor.

成员函数说明

◆ flush_input()

virtual void flush_input ( void )

protectedvirtual

Flush any incoming characters in the communications channel.

实现了 vrpn_YEI_3Space.

◆ get_report()

virtual bool get_report ( void )

protectedvirtual

实现了 vrpn_YEI_3Space.

◆ receive_LED_mode_response()

bool receive_LED_mode_response ( struct timeval * timeout = NULL )

protectedvirtual

Read and parse the response to an LED-state request command. NULL timeout pointer means wait forever. Returns true on success and false on failure.

实现了 vrpn_YEI_3Space.

◆ receive_LED_values_response()

bool receive_LED_values_response ( struct timeval * timeout = NULL )

protectedvirtual

Read and parse the response to an LED-values request command. NULL timeout pointer means wait forever. Returns true on success and false on failure.

实现了 vrpn_YEI_3Space.

◆ send_ascii_command()

bool send_ascii_command ( const char * cmd )

protectedvirtual

Put a ':' character at the front and '
' at the end and then send the resulting command as an ASCII command. Returns true on success, false on failure.

实现了 vrpn_YEI_3Space.

◆ send_binary_command()

bool send_binary_command	(	const unsigned char *	cmd,
		int	len )

protectedvirtual

Compute the CRC for the message, append it, and send message. Returns true on success, false on failure.

实现了 vrpn_YEI_3Space.

该类的文档由以下文件生成:

simulink/vrpn/vrpn_YEI_3Space.h

Public 成员函数

Protected 成员函数

Protected 属性

额外继承的成员函数

详细描述

构造及析构函数说明

◆ vrpn_YEI_3Space_Sensor()

◆ ~vrpn_YEI_3Space_Sensor()

成员函数说明

◆ flush_input()

◆ get_report()

◆ receive_LED_mode_response()

◆ receive_LED_values_response()

◆ send_ascii_command()

◆ send_binary_command()