source: flair-src/trunk/tools/VrpnLite/src/VrpnLite.h@ 405

Last change on this file since 405 was 363, checked in by Sanahuja Guillaume, 2 years ago

allow mutliple connection on udp (only nrt for the moment)

File size: 1.1 KB
Line 
1// created: 2019/03/12
2// filename: VrpnLite.h
3//
4// author: Guillaume Sanahuja
5// Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7// version: $Id: $
8//
9// purpose: vrpnlite, to forward it to bth for exemple
10// usefull to reduce vrpn frame size
11//
12/*********************************************************************/
13
14#ifndef VRPNLITE_H
15#define VRPNLITE_H
16
17#include <string>
18#include <Thread.h>
19
20namespace flair {
21 namespace core {
22 class UdpSocket;
23 }
24 namespace sensor {
25 class VrpnClient;
26 class VrpnObject;
27 }
28}
29
30class VrpnLite: public flair::core::Thread {
31 public:
32 VrpnLite(int vrpnLitePort,std::string vrpnServerAddress);
33 ~VrpnLite();
34
35private:
36 void Run(void);
37 flair::sensor::VrpnClient* vrpnclient;
38 std::vector<flair::sensor::VrpnObject*> vrpnobjects;
39 std::vector<std::vector<flair::sensor::VrpnObject*>> vrpnobjects_list;
40 flair::core::UdpSocket* dataSocket;
41 void SendObjects(void) const;
42 int16_t ConvertPosition(float value) const;
43 int16_t ConvertQuaternion(float value) const;
44};
45
46#endif // VRPNLITE_H
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