simple_vrpn_client.h
95d4e79e52abmaster

simple_vrpn_client.h
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			#ifndef SIMPLE_VRPN_CLIENT_H
			#define SIMPLE_VRPN_CLIENT_H

			#include "ros/ros.h"
			#include "geometry_msgs/PoseStamped.h"

			#include <vrpn_Tracker.h>
			#include <vrpn_Connection.h>
			#include <string>

			#define DEFAULT_OPTITRACK_PORT 3883


			namespace vrpn_client_ros
			{

			typedef std::shared_ptr<vrpn_Connection> ConnectionPtr;
			typedef std::shared_ptr<vrpn_Tracker_Remote> TrackerRemotePtr;

			class VrpnTrackerRos
			{
			public:

			typedef std::shared_ptr<VrpnTrackerRos> Ptr;
			/**
			* Create and initialize VrpnTrackerRos using an existing underlying VRPN connection object. The underlying
			* connection object is responsible for calling the tracker's mainloop.
			*/
			VrpnTrackerRos(std::string tracker_name, ConnectionPtr connection, ros::NodeHandle nh);

			/**
			* Create and initialize VrpnTrackerRos, creating a new connection to tracker_name@host. This constructor will
			* register timer callbacks on nh to call mainloop.
			*/
			VrpnTrackerRos(std::string tracker_name, std::string host, ros::NodeHandle nh);

			~VrpnTrackerRos();

			/**
			* Call mainloop of underlying vrpn_Tracker_Remote
			*/
			void mainloop();

			private:
			TrackerRemotePtr tracker_remote_;
			ros::Publisher pose_pubs_;
			ros::NodeHandle output_nh_;
			bool use_server_time_, broadcast_tf_, process_sensor_id_;
			std::string tracker_name;

			ros::Timer mainloop_timer;

			geometry_msgs::PoseStamped pose_msg_;

			void init(std::string tracker_name, ros::NodeHandle nh, bool create_mainloop_timer);

			static void VRPN_CALLBACK handle_pose(void *userData, const vrpn_TRACKERCB tracker_pose);
			};

			class VrpnClientRos
			{
			public:

			typedef std::shared_ptr<VrpnClientRos> Ptr;
			typedef std::map<std::string, VrpnTrackerRos::Ptr> TrackerMap;

			/**
			* Create and initialize VrpnClientRos object in the private_nh namespace.
			*/
			VrpnClientRos(ros::NodeHandle nh, ros::NodeHandle private_nh);

			static std::string getHostStringFromParams(ros::NodeHandle host_nh);

			/**
			* Call mainloop of underlying VRPN connection and all registered VrpnTrackerRemote objects.
			*/
			void mainloop();

			/**
			* Examine vrpn_Connection's senders and create new trackers as necessary.
			*/
			void updateTrackers();

			private:
			std::string host_;
			ros::NodeHandle output_nh_;

			/**
			* Underlying VRPN connection object
			*/
			ConnectionPtr connection_;

			/**
			* Map of registered trackers, accessible by name
			*/
			TrackerMap trackers_;

			ros::Timer refresh_tracker_timer_, mainloop_timer;
			};
			} // namespace vrpn_client_ros

			#endif // SIMPLE_VRPN_CLIENT_H

R1517/src/nodes/simple_vrpn_client.h95d4e79e52abmaster

simple_vrpn_client.hView Options

R1517/src/nodes/simple_vrpn_client.h
95d4e79e52abmaster

simple_vrpn_client.h
View Options