P_VRPNTracker.h

00001 /***************************************************************************
00002 *cr 
00003 *cr (C) Copyright 1995-2019 The Board of Trustees of the 
00004 *cr University of Illinois 
00005 *cr All Rights Reserved 
00006 *cr 
00007 ***************************************************************************/
00008 
00009 /***************************************************************************
00010 * RCS INFORMATION:
00011 *
00012 * $RCSfile: P_VRPNTracker.h,v $
00013 * $Author: johns $ $Locker: $ $State: Exp $
00014 * $Revision: 1.26 $ $Date: 2019年01月17日 21:21:01 $
00015 *
00016 ***************************************************************************
00017 * DESCRIPTION:
00018 * This is Paul's new Tracker code -- pgrayson@ks.uiuc.edu
00019 *
00020 * A Tracker that gets its info over the net through VRPN. There are
00021 * multiple Trackers using the same connection to a computer, so they
00022 * need to cooperate in creative ways to get sensor updates.
00023 *
00024 ***************************************************************************/
00025 #ifndef P_VRPNTRACKER_H
00026 #define P_VRPNTRACKER_H
00027 
00028 #if defined(VMDVRPN)
00029 
00030 #include "P_Tracker.h"
00031 #include "vrpn_Tracker.h"
00032 
00034 struct VRPNTrackerUserData {
00035 float *pos;
00036 Matrix4 *orient;
00037 };
00038 
00039 
00041 class VRPNTracker : public VMDTracker {
00042 private:
00044 vrpn_Tracker_Remote *tkr;
00045 
00048 VRPNTrackerUserData userdata;
00049 
00050 protected:
00051 virtual int do_start(const SensorConfig *);
00052 
00053 public:
00054 VRPNTracker();
00055 ~VRPNTracker();
00056 const char *device_name() const { return "vrpntracker"; }
00057 virtual VMDTracker *clone() { return new VRPNTracker; }
00058 
00059 inline virtual int alive() {
00060 if(tkr) if(tkr->connectionPtr())
00061 return tkr->connectionPtr()->doing_okay();
00062 return 0;
00063 }
00064 
00065 virtual void update();
00066 };
00067 
00068 #endif
00069 
00070 #endif