#include <LHeadTracker.h>

Inheritance diagram for vreckoDP_base::LHeadTracker:

Public Member Functions
	LHeadTracker ()

	LHeadTracker (const char *port_name)

	LHeadTracker (const char port_name1, const char port_name2)

	~LHeadTracker ()

virtual int	openDevice (void)
	Opens device and performs the initialization routines. More...

int	closeDevice (void)
	Closes device. More...

void	update (void)
	Updates the device - scan device and send required outputs. More...

bool	loadXMLParameters (XERCES_CPP_NAMESPACE_QUALIFIER DOMNode *pParametersNode)
	OBSOLETE METHOD, kept for backwards compatibility. More...

XERCES_CPP_NAMESPACE_QUALIFIER DOMNode *	saveXMLParameters (XERCES_CPP_NAMESPACE_QUALIFIER DOMDocument *)
	Save current setting into a XML node. More...

int	getRotate (float *p_rotate)

osg::Vec3 &	getRotate (void)

void	setRotationType (rotation_type _type)

osg::Vec3 &	getRotateA (void)

osg::Matrix &	getRotateM (void)

osg::Quat &	getRotateQ (void)

int	getTranslate (float *p_trans)

osg::Vec3 &	getTranslate (void)

void	printPos (void)

void	setInitialPosition (osg::Vec4 &_pos)

void	setInitialRotation (osg::Vec4 &_rot)

void	setInitialPosition (osg::Vec4 &_pos1, osg::Vec4 &_pos2)

void	setInitialRotation (osg::Vec4 &_rot1, osg::Vec4 &_rot2)

void	demandReport (void)

void	setBaseT (osg::Vec4 b1, osg::Vec4 b2, osg::Vec4 b3, osg::Vec4 orig)

void	setBaseR (osg::Vec4 b1, osg::Vec4 b2, osg::Vec4 b3, osg::Vec4 orig)

void	resetBase (osg::Vec4 b1, osg::Vec4 b2, osg::Vec4 b3, osg::Vec4 orig)

void	setSlaveTransmitterType (unsigned char transmitter_type)

Public Member Functions inherited from vrecko::Device
	Device (const char startingDeviceName, const char pname="")

virtual	~Device ()

int	getID (void)
	Returns the ID of the device. More...

void	setID (int new_id)
	Sets ID of the device. More...

const std::string &	getDeviceType (void)
	Returns the type of the device. More...

void	setPortName (const char *pname)
	Sets the port name for the device. More...

const char *	getPortName (void)
	Returns port name of the device. More...

virtual int	calibrateDevice (void)
	Device calibration. More...

virtual const std::string	getCalibrationString (void)
	Returns the description of the calibration process. More...

Public Member Functions inherited from vrecko::BaseClass
	BaseClass (const char *startingSenderString)
	The main constructor. More...

	BaseClass (BaseClass &bc)
	Copy constructor. Probably not really used. More...

virtual	~BaseClass ()
	Destructor. More...

virtual bool	initialize (XERCES_CPP_NAMESPACE_QUALIFIER DOMNode *parameters=NULL)
	Core initialization. More...

virtual bool	initializeFromString (const char *xmlString)
	Helper method that allows to initialize ability from a XML-formatted string. More...

bool	inputPresent (const std::string &name)
	Returns true if input pin (not request inputpin ) with given name is present. More...

bool	outputPresent (const std::string &name)
	Returns true if output pin (not request output pin) with given name is present. More...

void	addInputPin (InputPinBase *pin)
	Adds an input pin. More...

void	removeInputPin (InputPinBase *pin)
	Removes an input pin. More...

void	addOutputPin (OutputPinBase *pin)
	Adds an output pin. More...

void	removeOutputPin (OutputPinBase *pin)
	Removes and output pin. More...

void	addRequestInputPin (RequestInputPinBase *pin)
	Adds a request input pin. More...

void	removeRequestInputPin (RequestInputPinBase *pin)
	Removes a request input pin. More...

void	addRequestOutputPin (RequestOutputPinBase *pin)
	Adds a request output pin. More...

void	removeRequestOutputPin (RequestOutputPinBase *pin)
	Removes a request output pin. More...

bool	addNotification (BaseClass *receiver, unsigned long notificationTypes)
	Registers an observer that will be notified if a specific change occurs. More...

bool	removeNotification (BaseClass *receiver, unsigned long notificationTypes=NOTIFICATION_ALL)
	Unregisters a previously registered observer. More...

virtual void	processEvent (const std::string &input_name, VreckoMessage *pMessage)
	Internal method for processing the events. More...

virtual VreckoMessage *	processRequest (const std::string &request_input_name, VreckoMessage *pMessage)
	Internal method for processing the requests. More...

virtual const std::string &	getSenderString (void)
	Returns the sender (or receiver) identification string. More...

void	reportError (const std::string &error)
	Print error message. More...

void	setPriority (long int pr)
	Sets the priority. (Possible problems - read the full description for more info) More...

long int	getPriority (void) const
	Returns current object priority. More...

void	setAttribute (const std::string &attr_name, int attr_value)
	Sets an attribute value. More...

int	getAttribute (const std::string &attr_name)
	Returns attribute value. More...

int	getAttribute (const char *attr_name)
	Returns attribute value. More...

void	deleteAttribute (const std::string &attr_name)
	Delete an attribute. More...

void	setSceneFile (const std::string &sceneFileName)
	Set the name of the file this component was in (and possibly will be saved to). More...

const std::string &	getSceneFile () const
	Get the name of the file this component was in. More...

virtual void	preInitialize (void)
	OBSOLETE METHOD, kept for backwards compatibility. More...

virtual void	postInitialize (void)
	OBSOLETE METHOD, kept for backwards compatibility. More...

virtual bool	loadXMLParameters (const char *xmlString)
	OBSOLETE METHOD, kept for backwards compatibility. More...

InputPinBase *	getInputPin (const char *strName)
	Returns pointer to an input pin with specified name. More...

OutputPinBase *	getOutputPin (const char *strName)
	Returns pointer to an output pin with specified name. More...

RequestInputPinBase *	getRequestInputPin (const char *strName)
	Returns pointer to an request input pin with specified name. More...

RequestOutputPinBase *	getRequestOutputPin (const char *strName)
	Returns pointer to an input pin with specified name. More...

Protected Member Functions
int	scanDevice (void)

bool	openPort (const char _pname, int temp_port_fd)

bool	scanDeviceX (void)

int	diagnostic (void)

int	getRecData (long int x, long int y, long int z, long int pi, long int ya, long int ro, char *packet)

void	delay (int msec)

int	lhtRead (char *buf, int n)

void	reset (void)

int	singleReport (char *reply)

void	printBuffer (const char *buf, int length)

osg::Vec4	getEuler (osg::Matrix &_mat)

osg::Vec4	get_rel_pos (long int x, long int y, long int z)

bool	checkDiff (const long int &x, const long int &y, const long int &z, const long int &n_pi, const long int &n_ya, const long int &n_ro)

	DECLARE_OUTPUT (Position, vrecko::MessageVec3)

	DECLARE_OUTPUT (Orientation, vrecko::MessageQuat)

Protected Attributes
int	port_fd

int	port_fd_dual

int	_port_fd

std::string	_port_name_dual

int	actual_p

bool	rec_out [2]

osg::Vec4	pos [2]

osg::Vec4	rot [2]

osg::Vec3	ret_pos

osg::Vec3	ret_rot

osg::Quat	rotq [2]

osg::Quat	rotq_diff [2]

rotation_type	rot_type

osg::Matrix	ret_rotm

osg::Quat	ret_rotq

osg::Vec4	base1

osg::Vec4	base2

osg::Vec4	base3

osg::Vec4	origin

char	tx_buf [HTD_COMMAND_LEN]

char	rx_buf [2 *HTD_PACKET_LEN]

int	req_len

int	read_len

long int	absX [2]

long int	absY [2]

long int	absZ [2]

long int	absPI [2]

long int	absYA [2]

long int	absRO [2]

osg::Vec4	pos_diff [2]

osg::Vec4	rot_diff [2]

long int	last_absPI [2]

long int	last_absYA [2]

long int	last_absRO [2]

osg::Vec4	last_rot [2]

osg::Matrix	tr_matrix

osg::Matrix	tr_matrix2

bool	first_report [2]

jmp_buf	tenv

osg::Vec3	translate_mapping

Protected Attributes inherited from vrecko::Device
int	id
	device ID More...

std::string	device_type
	device type More...

std::string	port_name
	name of the port More...

Protected Attributes inherited from vrecko::BaseClass
AttributeMap	attribute

MTReadWriteLock	attributeLock

std::string	senderString

MTLock	notificationsLock

std::vector < NOTIFICATION_DESCRIPTION >	notifications

long int	priority

const std::string *	sceneFile

PinList	inputPinsList

PinList	outputPinsList

PinList	requestInputPinsList

PinList	requestOutputPinsList

Additional Inherited Members
Public Types inherited from vrecko::BaseClass
enum	NotificationTypes { NOTIFICATION_DELETE_CLASS = 1, NOTIFICATION_EO_REGISTERING = 2, NOTIFICATION_EO_UNREGISTERING = 4, NOTIFICATION_PROGRAM_TERMINATION = 8, NOTIFICATION_ALL = 0xFFFFFFFF }

Protected Types inherited from vrecko::BaseClass
typedef std::map< std::string, int >	AttributeMap
	Attributes. More...

typedef std::vector < osg::ref_ptr< IOPinBase > >	PinList

Constructor & Destructor Documentation

LHeadTracker::LHeadTracker ( )

LHeadTracker::LHeadTracker ( const char * port_name )

LHeadTracker::LHeadTracker	(	const char *	port_name1,
		const char *	port_name2
	)

LHeadTracker::~LHeadTracker ( )

Member Function Documentation

bool LHeadTracker::checkDiff	(	const long int &	x,
		const long int &	y,
		const long int &	z,
		const long int &	n_pi,
		const long int &	n_ya,
		const long int &	n_ro
	)

protected

int LHeadTracker::closeDevice ( void )

virtual

Closes device.

Implements vrecko::Device.

vreckoDP_base::LHeadTracker::DECLARE_OUTPUT	(	Position	,
		vrecko::MessageVec3
	)

protected

vreckoDP_base::LHeadTracker::DECLARE_OUTPUT	(	Orientation	,
		vrecko::MessageQuat
	)

protected

void LHeadTracker::delay ( int msec )

inlineprotected

void LHeadTracker::demandReport ( void )

int LHeadTracker::diagnostic ( void )

protected

osg::Vec4 LHeadTracker::get_rel_pos	(	long int	x,
		long int	y,
		long int	z
	)

protected

given absolute position of the tracker in HT coord system evaluate relative position in world coordinates

osg::Vec4 LHeadTracker::getEuler ( osg::Matrix & _mat )

protected

int LHeadTracker::getRecData	(	long int *	x,
		long int *	y,
		long int *	z,
		long int *	pi,
		long int *	ya,
		long int *	ro,
		char *	packet
	)

protected

htd_get_rec_data

given a packet from control unit, get the actual position and rotation of the receiver return the value of {REC_OUT, REC_FRI, REC_IN} which means {receiver out of active area, receiver in fringe area, receiver in active area}

int LHeadTracker::getRotate ( float * p_rotate )

osg::Vec3 & LHeadTracker::getRotate ( void )

osg::Vec3 & LHeadTracker::getRotateA ( void )

osg::Matrix & LHeadTracker::getRotateM ( void )

osg::Quat & LHeadTracker::getRotateQ ( void )

int LHeadTracker::getTranslate ( float * p_trans )

osg::Vec3 & LHeadTracker::getTranslate ( void )

int LHeadTracker::lhtRead	(	char *	buf,
		int	n
	)

protected

bool LHeadTracker::loadXMLParameters ( XERCES_CPP_NAMESPACE_QUALIFIER DOMNode * )

virtual

OBSOLETE METHOD, kept for backwards compatibility.

The preInitialize(), loadXMLParameters() and postInitialize() methods were replaced in 2011 by a single method initialize().

Parameters

*	(XERCES_CPP_NAMESPACE_QUALIFIER DOMNode)

Returns: (bool)

Reimplemented from vrecko::BaseClass.

int LHeadTracker::openDevice ( void )

virtual

Opens device and performs the initialization routines.

Implements vrecko::Device.

Reimplemented in vreckoDP_base::L3DMouse.

bool LHeadTracker::openPort	(	const char *	_pname,
		int *	temp_port_fd
	)

protected

void LHeadTracker::printBuffer	(	const char *	buf,
		int	length
	)

protected

void LHeadTracker::printPos ( void )

void LHeadTracker::reset ( void )

protected

void LHeadTracker::resetBase	(	osg::Vec4	b1,
		osg::Vec4	b2,
		osg::Vec4	b3,
		osg::Vec4	orig
	)

XERCES_CPP_NAMESPACE_QUALIFIER DOMNode * LHeadTracker::saveXMLParameters ( XERCES_CPP_NAMESPACE_QUALIFIER DOMDocument * )

virtual

Save current setting into a XML node.

Warning: Currently not supported. It is safe to leave it without overriding.

Parameters

*	(XERCES_CPP_NAMESPACE_QUALIFIER DOMDocument)

Returns: (XERCES_CPP_NAMESPACE_QUALIFIER DOMNode *)

Reimplemented from vrecko::BaseClass.

int LHeadTracker::scanDevice ( void )

protected

bool LHeadTracker::scanDeviceX ( void )

protected

void LHeadTracker::setBaseR	(	osg::Vec4	b1,
		osg::Vec4	b2,
		osg::Vec4	b3,
		osg::Vec4	orig
	)

set the base of HT coordinate system in world coordinates - Rotation

void LHeadTracker::setBaseT	(	osg::Vec4	b1,
		osg::Vec4	b2,
		osg::Vec4	b3,
		osg::Vec4	orig
	)

set the base of HT coordinate system in world coordinates

void LHeadTracker::setInitialPosition ( osg::Vec4 & _pos )

void LHeadTracker::setInitialPosition	(	osg::Vec4 &	_pos1,
		osg::Vec4 &	_pos2
	)

void LHeadTracker::setInitialRotation ( osg::Vec4 & _rot )

void LHeadTracker::setInitialRotation	(	osg::Vec4 &	_rot1,
		osg::Vec4 &	_rot2
	)

void vreckoDP_base::LHeadTracker::setRotationType ( rotation_type _type )

inline

void LHeadTracker::setSlaveTransmitterType ( unsigned char transmitter_type )

int LHeadTracker::singleReport ( char * reply )

protected

void LHeadTracker::update ( void )

virtual

Updates the device - scan device and send required outputs.

Implements vrecko::Device.

Member Data Documentation

int vreckoDP_base::LHeadTracker::_port_fd

protected

std::string vreckoDP_base::LHeadTracker::_port_name_dual

protected

long int vreckoDP_base::LHeadTracker::absPI[2]

protected

long int vreckoDP_base::LHeadTracker::absRO[2]

protected

long int vreckoDP_base::LHeadTracker::absX[2]

protected

long int vreckoDP_base::LHeadTracker::absY[2]

protected

long int vreckoDP_base::LHeadTracker::absYA[2]

protected

long int vreckoDP_base::LHeadTracker::absZ[2]

protected

int vreckoDP_base::LHeadTracker::actual_p

protected

osg::Vec4 vreckoDP_base::LHeadTracker::base1

protected

osg::Vec4 vreckoDP_base::LHeadTracker::base2

protected

osg::Vec4 vreckoDP_base::LHeadTracker::base3

protected

bool vreckoDP_base::LHeadTracker::first_report[2]

protected

long int vreckoDP_base::LHeadTracker::last_absPI[2]

protected

long int vreckoDP_base::LHeadTracker::last_absRO[2]

protected

long int vreckoDP_base::LHeadTracker::last_absYA[2]

protected

osg::Vec4 vreckoDP_base::LHeadTracker::last_rot[2]

protected

osg::Vec4 vreckoDP_base::LHeadTracker::origin

protected

int vreckoDP_base::LHeadTracker::port_fd

protected

int vreckoDP_base::LHeadTracker::port_fd_dual

protected

osg::Vec4 vreckoDP_base::LHeadTracker::pos[2]

protected

osg::Vec4 vreckoDP_base::LHeadTracker::pos_diff[2]

protected

int vreckoDP_base::LHeadTracker::read_len

protected

bool vreckoDP_base::LHeadTracker::rec_out[2]

protected

int vreckoDP_base::LHeadTracker::req_len

protected

osg::Vec3 vreckoDP_base::LHeadTracker::ret_pos

protected

osg::Vec3 vreckoDP_base::LHeadTracker::ret_rot

protected

osg::Matrix vreckoDP_base::LHeadTracker::ret_rotm

protected

osg::Quat vreckoDP_base::LHeadTracker::ret_rotq

protected

osg::Vec4 vreckoDP_base::LHeadTracker::rot[2]

protected

osg::Vec4 vreckoDP_base::LHeadTracker::rot_diff[2]

protected

rotation_type vreckoDP_base::LHeadTracker::rot_type

protected

osg::Quat vreckoDP_base::LHeadTracker::rotq[2]

protected

osg::Quat vreckoDP_base::LHeadTracker::rotq_diff[2]

protected

char vreckoDP_base::LHeadTracker::rx_buf[2 *HTD_PACKET_LEN]

protected

jmp_buf vreckoDP_base::LHeadTracker::tenv

protected

osg::Matrix vreckoDP_base::LHeadTracker::tr_matrix

protected

osg::Matrix vreckoDP_base::LHeadTracker::tr_matrix2

protected

osg::Vec3 vreckoDP_base::LHeadTracker::translate_mapping

protected

char vreckoDP_base::LHeadTracker::tx_buf[HTD_COMMAND_LEN]

protected

The documentation for this class was generated from the following files:

C:/Documents/School/OSG/VRECKO/include/vreckoDP/base/LHeadTracker.h
C:/Documents/School/OSG/VRECKO/src/vreckoDP/base/LHeadTracker.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation