VRPNTrackerDevice.H

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// only compile/include this if USE_VRPN is defined
#ifdef USE_VRPN

#ifndef VRPNTRACKERDEVICE_H
#define VRPNTRACKERDEVICE_H

// Note: This include ordering is important, don't screw with it!
#include <G3D/G3DAll.h>
using namespace G3D;
#include <iostream>
#include "IS3DCommon.H"
#include "PolledDevice.H"

class vrpn_Tracker_Remote;

namespace IS3D {


class VRPNTrackerDevice : public PolledDevice
{
public:

  VRPNTrackerDevice(
    const std::string            &vrpnTrackerDeviceName, 
    const Array<std::string>     &eventsToGenerate,
    const double                 &trackerUnitsToRoomUnitsScale,
        const CoordinateFrame        &deviceToRoom,
        const Array<CoordinateFrame> &propToTracker,
        const Array<CoordinateFrame> &finalOffset);


  static VRPNTrackerDevice* fromConfigVals(const std::string &devname);

  virtual ~VRPNTrackerDevice();

  void processEvent(const CoordinateFrame &vrpnEvent, int sensorNum);

  std::string getEventName(int trackerNumber);

  void pollForEvents();
  
  void setFinalOffset(int trackerNumber, CoordinateFrame &finalOffset);  

private:

  vrpn_Tracker_Remote    *_vrpnDevice;
  Array<std::string>      _eventNames;
  double                  _trackerUnitsToRoomUnitsScale;
  CoordinateFrame         _deviceToRoom;
  Array<CoordinateFrame>  _propToTracker;
  Array<CoordinateFrame>  _finalOffset;
  bool                    _printSensor0;
};

} // end namespace

#endif


#endif // USE_VRPN

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