Flair
Framework Libre Air
flair::sensor::VrpnObject Class Reference

Class for VRPN object. The IODevice is created with the VrpnClient as parent. VrpnClient must be created before. More...

#include <VrpnObject.h>

+ Inheritance diagram for flair::sensor::VrpnObject:

Public Member Functions

 VrpnObject (std::string name, const gui::TabWidget *tab, sensor::VrpnClient *client=GetVrpnClient())
 Constructor. More...
 
 VrpnObject (std::string name, uint8_t id, const gui::TabWidget *tab, sensor::VrpnClient *client=GetVrpnClient())
 Constructor. More...
 
 ~VrpnObject (void)
 Destructor. More...
 
gui::TabGetPlotTab (void) const
 Plot tab. More...
 
core::Time GetLastPacketTime (void) const
 Get Last Packet Time. More...
 
bool IsTracked (unsigned int timeout_ms) const
 Is object tracked? More...
 
void GetQuaternion (core::Quaternion &quaternion) const
 Get Quaternion. More...
 
void GetPosition (core::Vector3Df &point) const
 Get Position. More...
 
core::MatrixOutput (void) const
 Output matrix. More...
 
core::MatrixState (void) const
 State matrix. More...
 
gui::DataPlot1DxPlot (void) const
 x plot More...
 
gui::DataPlot1DyPlot (void) const
 y plot More...
 
gui::DataPlot1DzPlot (void) const
 z plot More...
 
- Public Member Functions inherited from flair::core::IODevice
 IODevice (const Object *parent, std::string name)
 Constructor. More...
 
virtual ~IODevice ()
 Destructor. More...
 
void AddDeviceToLog (const IODevice *device)
 Add an IODevice to the logs. More...
 
void AddDataToLog (const io_data *data)
 Add an io_data to the log. More...
 
void OutputToShMem (bool enabled)
 Send the output to a shared memory. More...
 
bool IsReady (void) const
 is device ready More...
 
virtual DataType const & GetInputDataType () const
 
virtual DataType const & GetOutputDataType () const
 
- Public Member Functions inherited from flair::core::Object
 Object (const Object *parent=NULL, std::string name="", std::string type="")
 Constructor. More...
 
virtual ~Object ()
 Destructor. More...
 
std::string ObjectName (void) const
 Name. More...
 
std::string ObjectType (void) const
 Type. More...
 
const ObjectParent (void) const
 Parent. More...
 
std::vector< const Object * > * TypeChilds (void) const
 Childs of the same type. More...
 
std::vector< const Object * > * Childs (void) const
 Childs. More...
 
void Information (const char *function, int line, const char *format,...) const
 Formatted information. More...
 
void Warning (const char *function, const char *format,...) const
 Formatted warning. More...
 
void Error (const char *function, const char *format,...) const
 Formatted error. More...
 
bool ErrorOccured (bool recursive=true) const
 Has an errror occured? More...
 

Additional Inherited Members

- Public Types inherited from flair::core::Object
enum  color_t { Auto = 0, Red = 31, Green = 32, Orange = 33 }
 
- Protected Member Functions inherited from flair::core::IODevice
void ProcessUpdate (io_data *data)
 Process the childs of type IODevice, and log if needed. More...
 
void SetIsReady (bool status)
 set is ready More...
 

Detailed Description

Class for VRPN object. The IODevice is created with the VrpnClient as parent. VrpnClient must be created before.

Constructor & Destructor Documentation

flair::sensor::VrpnObject::VrpnObject ( std::string  name,
const gui::TabWidget tab,
sensor::VrpnClient client = GetVrpnClient() 
)

Constructor.

Construct a VrpnObject. Connection is done by IP.

Parameters
nameVRPN object name, should be the same as defined in the server
tabTab for the user interface
clientVrpnClient of the connection, if unspecified, use the default one
flair::sensor::VrpnObject::VrpnObject ( std::string  name,
uint8_t  id,
const gui::TabWidget tab,
sensor::VrpnClient client = GetVrpnClient() 
)

Constructor.

Construct a VrpnObject. Connection is done by xbee.

Parameters
namename
idVRPN object id, should be the same as defined in the xbee bridge
tabTab for the user interface
clientVrpnClient of the connection, if unspecified, use the default one
flair::sensor::VrpnObject::~VrpnObject ( void  )

Destructor.

Member Function Documentation

gui::Tab* flair::sensor::VrpnObject::GetPlotTab ( void  ) const

Plot tab.

Returns
plot Tab
core::Time flair::sensor::VrpnObject::GetLastPacketTime ( void  ) const

Get Last Packet Time.

Returns
Time of last received packe
bool flair::sensor::VrpnObject::IsTracked ( unsigned int  timeout_ms) const

Is object tracked?

Parameters
timeout_mstimeout
Returns
true if object is tracked during timeout_ms time
void flair::sensor::VrpnObject::GetQuaternion ( core::Quaternion quaternion) const

Get Quaternion.

Parameters
quaternionoutput datas
void flair::sensor::VrpnObject::GetPosition ( core::Vector3Df point) const

Get Position.

Parameters
pointoutput datas
core::Matrix* flair::sensor::VrpnObject::Output ( void  ) const

Output matrix.

Matrix is of type float and as follows:
(0,0) q0
(1,0) q1
(2,0) q2
(3,0) q3
(4,0) x
(5,0) y
(6,0) z

Returns
Output matrix
core::Matrix* flair::sensor::VrpnObject::State ( void  ) const

State matrix.

Used for plotting on ground station.
Matrix is of type float and as follows:
(0,0) roll (deg)
(1,0) pitch (deg)
(2,0) yaw (deg)

Returns
State matrix
gui::DataPlot1D* flair::sensor::VrpnObject::xPlot ( void  ) const

x plot

Returns
x plot
gui::DataPlot1D* flair::sensor::VrpnObject::yPlot ( void  ) const

y plot

Returns
y plot
gui::DataPlot1D* flair::sensor::VrpnObject::zPlot ( void  ) const

z plot

Returns
z plot