VrpnTracker.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------



#ifndef __VRPN_TRACKER_H_
#define __VRPN_TRACKER_H_

#define DEF_TRACK_DEV_NAME "object@192.168.0.100"

#include <vrpn_Tracker.h>
#include <time.h>
#include <unistd.h>
#include <string>

using namespace std;

class VrpnHandler{
 public:
  virtual void handleVrpnData()=0;
};

class VrpnTracker {
 friend void handleTrackerQuatPos(void *userdata, const vrpn_TRACKERCB t);
 
private:

 static VrpnTracker* _instance;
 
 timespec   _request;
 timespec   _receive;
 clockid_t  _clockToUse;
 int     _requested;
 
 vrpn_Tracker_Remote _implementation;
 VrpnHandler*    _readHandler;

 VrpnTracker(string trackDevName);
 
 //FILE* _logFile;
 
public:
 
 vrpn_TRACKERCB oldPos;
 vrpn_TRACKERCB currPos;

 static VrpnTracker* instance(string trackDevName = string(DEF_TRACK_DEV_NAME));
 
 virtual ~VrpnTracker();

 void mainloop ();

 void registerHandler(VrpnHandler* inst);

 static void multiplyMat (double matrix1[][3], double matrix2[][3], double matrix3[][3]);
 static void quat2Mat (double *in_quat, double matrix[][3]);
 static void matToEA(double matrix[][3], double *out_EA);
 static void quatToEA (vrpn_float64* in_quat, vrpn_float64* out_EA);

};

void handleTrackerQuatPos(void *userdata, const vrpn_TRACKERCB t);

void* runTracking (void* tracker);

#endif