vrpn  07.33
Virtual Reality Peripheral Network
vrpn_Tracker_TrivisioColibri.h
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1 //
3 // Name: vrpn_Tracker_TrivisioColibri.h
4 //
5 // Author: David Borland
6 // Institut d'Investigacions Biomèdiques August Pi i Sunyer (IDIBAPS)
7 // Virtual Embodiment and Robotic Re-Embodiment (VERE) Project – 257695
8 //
9 // Description: VRPN tracker class for Trivisio Colibri device
10 //
12 
13 #ifndef VRPN_TRACKER_TRIVISIOCOLIBRI
14 #define VRPN_TRACKER_TRIVISIOCOLIBRI
15 
16 #include "vrpn_Configure.h" // IWYU pragma: keep
17 
18 #ifdef VRPN_USE_TRIVISIOCOLIBRI
19 
20 #include "vrpn_Tracker.h"
21 
23 public:
24  // Constructor
25  //
26  // name: VRPN tracker name
27  //
28  // c: VRPN connection to use
29  //
30  // numSensors: The number of devices to connect to
31  //
32  // Hz: Update rate in Hertz
33  //
34  // bufLen: The buffer length for reading data.
35  //
36  // From the reference manual:
37  //
38  // An short buffer (0) ensures minimal delay until the sensor measurement is available at the risk
39  // of lost measurements. A long buffer guarantees that no data is dropped, at
40  // the same time if data is not read fast enough there is a potential risk of a
41  // bufLenfrequency before the measurement becomes available.
42  //
43  vrpn_Tracker_TrivisioColibri(const char* name, vrpn_Connection* c,
44  int numSensors = 1, int Hz = 60, int bufLen = 0);
46 
50  virtual void mainloop();
51 
52 protected:
53  virtual void get_report();
54  virtual void send_report();
55 
56  // Array of pointers to devices handles
57  void** imu;
58 };
59 
60 
61 #endif
62 #endif
virtual void mainloop()
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.
Generic connection class not specific to the transport mechanism.
vrpn_Tracker_TrivisioColibri(const char *name, vrpn_Connection *c, int numSensors=1, int Hz=60, int bufLen=0)