vrpn_Tracker_WiimoteHead.h

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/*
    Copyright Iowa State University 2009-2010
    Distributed under the Boost Software License, Version 1.0.
    (See accompanying comment below or copy at
    http://www.boost.org/LICENSE_1_0.txt)
 
    Boost Software License - Version 1.0 - August 17th, 2003
 
    Permission is hereby granted, free of charge, to any person or organization
    obtaining a copy of the software and accompanying documentation covered by
    this license (the "Software") to use, reproduce, display, distribute,
    execute, and transmit the Software, and to prepare derivative works of the
    Software, and to permit third-parties to whom the Software is furnished to
    do so, all subject to the following:
 
    The copyright notices in the Software and this entire statement, including
    the above license grant, this restriction and the following disclaimer,
    must be included in all copies of the Software, in whole or in part, and
    all derivative works of the Software, unless such copies or derivative
    works are solely in the form of machine-executable object code generated by
    a source language processor.
 
    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
    FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
    SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
    FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
    ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
    DEALINGS IN THE SOFTWARE.
*/
 
#ifndef __TRACKER_WIIMOTEHEAD_H
#define __TRACKER_WIIMOTEHEAD_H
 
#include <quat.h> // for q_vec_type, q_xyz_quat_type
 
#include "vrpn_Analog.h" // for vrpn_ANALOGCB, etc
#include "vrpn_Configure.h" // for VRPN_CALLBACK, VRPN_API
#include "vrpn_Shared.h" // for timeval
#include "vrpn_Tracker.h" // for vrpn_Tracker
 
class VRPN_API vrpn_Connection;
struct vrpn_HANDLERPARAM;
 
class VRPN_API vrpn_Tracker_WiimoteHead : public vrpn_Tracker {
 public:
 vrpn_Tracker_WiimoteHead(const char* name,
 vrpn_Connection * trackercon,
 const char* wiimote,
 float update_rate,
 float led_spacing = 0.145);
 
 virtual ~vrpn_Tracker_WiimoteHead();
 
 virtual void reset();
 
 void setup_wiimote();
 
 virtual void mainloop();
 
 void update_pose();
 
 void report();
 
 static int VRPN_CALLBACK VRPN_CALLBACK handle_connection(void*, vrpn_HANDLERPARAM);
 
 static void VRPN_CALLBACK VRPN_CALLBACK handle_analog_update(void* userdata, const vrpn_ANALOGCB info);
 
 protected:
 // Pose update steps
 
 void _update_gravity_moving_avg();
 
 void _update_2_LED_pose(q_xyz_quat_type & newPose);
 
 void _update_flip_state();
 
 void _convert_pose_to_tracker();
 
 // Partial resets
 void _reset_gravity();
 
 void _reset_points();
 
 void _reset_pose();
 
 // Internal query/accessor functions
 
 bool _should_report(double elapsedInterval) const;
 
 bool _have_gravity() const;
 
 // Configuration Parameters
 
 const char* d_name;
 
 const double d_update_interval;
 
 const double d_blobDistance;
 
 enum FlipState { FLIP_NORMAL, FLIP_180, FLIP_UNKNOWN };
        FlipState d_flipState;
 
 struct timeval d_prevtime;
 
 //Cached data from Wiimote update
 double d_vX[4];
 double d_vY[4];
 double d_vSize[4];
 double d_points;
 
 vrpn_Analog_Remote* d_ana;
 
 
 q_xyz_quat_type d_gravityXform;
 
 q_xyz_quat_type d_currentPose;
 
 // flags
 
 bool d_contact;
 
 bool d_lock;
 
 bool d_updated;
 
 bool d_gravDirty;
 
 // Gravity moving avg, window of 3
        q_vec_type d_vGravAntepenultimate;
        q_vec_type d_vGravPenultimate;
        q_vec_type d_vGrav;
};
 
#endif