vrpn_Tracker_TrivisioColibri.h

///////////////////////////////////////////////////////////////////////////////////////////////
//
// Name:        vrpn_Tracker_TrivisioColibri.h
//
// Author:      David Borland
//              Institut d'Investigacions Biom�diques August Pi i Sunyer (IDIBAPS)
//              Virtual Embodiment and Robotic Re-Embodiment (VERE) Project � 257695
//
// Description: VRPN tracker class for Trivisio Colibri device
//
/////////////////////////////////////////////////////////////////////////////////////////////// 
 
#ifndef VRPN_TRACKER_TRIVISIOCOLIBRI
#define VRPN_TRACKER_TRIVISIOCOLIBRI
 
#include "vrpn_Configure.h" // IWYU pragma: keep
 
#ifdef VRPN_USE_TRIVISIOCOLIBRI
 
#include "vrpn_Tracker.h" 
 
class vrpn_Tracker_TrivisioColibri : public vrpn_Tracker {
public:
 // Constructor
 //
 // name:        VRPN tracker name
 //
 // c:           VRPN connection to use
 //
 // numSensors:  The number of devices to connect to
 //
 // Hz:          Update rate in Hertz
 //
 // bufLen:      The buffer length for reading data. 
 //
 //              From the reference manual:
 //
 // An short buffer (0) ensures minimal delay until the sensor measurement is available at the risk
 // of lost measurements. A long buffer guarantees that no data is dropped, at
 // the same time if data is not read fast enough there is a potential risk of a
 // bufLenfrequency before the measurement becomes available.
 //
    vrpn_Tracker_TrivisioColibri(const char* name, vrpn_Connection* c,
 int numSensors = 1, int Hz = 60, int bufLen = 0);
    ~vrpn_Tracker_TrivisioColibri();
 
    /// This function should be called each time through the main loop
    /// of the server code. It checks for a report from the tracker and
    /// sends it if there is one.
 virtual void mainloop();
 
protected:
 virtual void get_report();
 virtual void send_report();
 
 // Array of pointers to devices handles
 void** imu;
};
 
 
#endif
#endif