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::Tab *	GetPlotTab (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::Matrix *	Output (void) const
	Output matrix. More...
core::Matrix *	State (void) const
	State matrix. More...
gui::DataPlot1D *	xPlot (void) const
	x plot More...
gui::DataPlot1D *	yPlot (void) const
	y plot More...
gui::DataPlot1D *	zPlot (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 Object *	Parent (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

name	VRPN object name, should be the same as defined in the server
tab	Tab for the user interface
client	VrpnClient 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

name	name
id	VRPN object id, should be the same as defined in the xbee bridge
tab	Tab for the user interface
client	VrpnClient 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_ms

timeout

Returns

true if object is tracked during timeout_ms time

void flair::sensor::VrpnObject::GetQuaternion

(

core::Quaternion &

quaternion

)

const

Get Quaternion.

Parameters

quaternion

output datas

void flair::sensor::VrpnObject::GetPosition

(

core::Vector3Df &

point

)

const

Get Position.

Parameters

point

output 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