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Commit e2dc58ff authored by bucyril's avatar bucyril
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added DataStreamClient.h

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pps_ws/src/d_fall_pps/CMakeLists.txt
+ 1
− 0
View file @ e2dc58ff
......@@ -118,6 +118,7 @@ catkin_package(
# include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
include
)
## Declare a C++ library
......
pps_ws/src/d_fall_pps/include/DataStreamClient.h 0 → 100755
+ 1236
− 0
View file @ e2dc58ff
///////////////////////////////////////////////////////////////////////////////
//
// Copyright (C) OMG Plc 2009.
// All rights reserved. This software is protected by copyright
// law and international treaties. No part of this software / document
// may be reproduced or distributed in any form or by any means,
// whether transiently or incidentally to some other use of this software,
// without the written permission of the copyright owner.
//
///////////////////////////////////////////////////////////////////////////////
#pragma once
/// \file
/// The SDK client and supporting definitions.
#ifdef WIN32
#ifdef _EXPORTING
#define CLASS_DECLSPEC __declspec(dllexport)
#else
#define CLASS_DECLSPEC __declspec(dllimport)
#endif // _EXPORTING
#elif defined( __GNUC__ )
#if __GNUC__ < 4
#error gcc 4 is required.
#endif
#define CLASS_DECLSPEC __attribute__((visibility("default")))
#else
#define CLASS_DECLSPEC
#endif
#include <string>
#include <vector>
namespace ViconDataStreamSDK
{
namespace CPP
{
class IStringFactory
{
public:
virtual char * AllocAndCopyString( const char * i_pSource ) = 0;
virtual void FreeString( char * i_pString ) = 0;
protected:
virtual ~IStringFactory() {}
};
// A string managing class for DLL boundry safe text.
// It ensures that strings are de-allocated with the same
// memory manager they are made with. This allows you to use a debug
// build of your client with a release SDK.
class String
{
public:
// A string which we are not responsible for deallocating
inline
String( const char * i_pString = 0 )
: m_pString( 0 )
, m_pConstString( i_pString )
, m_pStringFactory( 0 )
{
}
// A string which we are not responsible for deallocating
String( const std::string & i_rString )
: m_pString( 0 )
, m_pConstString( i_rString.c_str() )
, m_pStringFactory( 0 )
{
}
// Copy constructor
inline
String( const String & i_rString )
{
m_pConstString = i_rString.m_pConstString;
m_pStringFactory = i_rString.m_pStringFactory;
if( m_pStringFactory )
{
m_pString = m_pStringFactory->AllocAndCopyString( i_rString.m_pString );
}
else
{
m_pString = 0;
}
}
inline
~String()
{
if( m_pStringFactory )
{
m_pStringFactory->FreeString( m_pString );
}
}
// A string which we are responsible for deallocating
inline
void Set( const char * i_pString, IStringFactory & i_rStringFactory )
{
m_pString = i_rStringFactory.AllocAndCopyString( i_pString );
m_pStringFactory = &i_rStringFactory;
m_pConstString = 0;
}
inline
operator std::string() const
{
if( m_pStringFactory )
{
return std::string( m_pString );
}
else
{
return std::string( m_pConstString );
}
}
private:
char * m_pString;
const char * m_pConstString;
IStringFactory * m_pStringFactory;
};
// Streaming operator for String
inline std::ostream & operator<<( std::ostream & io_rStream, const String & i_rString )
{
io_rStream << std::string( i_rString );
return io_rStream;
}
namespace Direction
{
enum Enum
{
Up,
Down,
Left,
Right,
Forward,
Backward
};
}
namespace StreamMode
{
enum Enum
{
ClientPull,
ClientPullPreFetch,
ServerPush
};
}
namespace TimecodeStandard
{
enum Enum
{
None,
PAL,
NTSC,
NTSCDrop,
Film
};
}
namespace DeviceType
{
enum Enum
{
Unknown,
ForcePlate,
EyeTracker
};
}
namespace Unit
{
enum Enum
{
Unknown,
Volt,
Newton,
NewtonMeter,
Meter,
Kilogram,
Second,
Ampere,
Kelvin,
Mole,
Candela,
Radian,
Steradian,
MeterSquared,
MeterCubed,
MeterPerSecond,
MeterPerSecondSquared,
RadianPerSecond,
RadianPerSecondSquared,
Hertz,
Joule,
Watt,
Pascal,
Lumen,
Lux,
Coulomb,
Ohm,
Farad,
Weber,
Tesla,
Henry,
Siemens,
Becquerel,
Gray,
Sievert,
Katal
};
}
namespace Result
{
/// The Result code indicates the success or failure of a function.
enum Enum
{
Unknown, ///< The result is unknown. Treat it as a failure.
NotImplemented, ///< The function called has not been implemented in this version of the SDK.
Success, ///< The function call succeeded.
InvalidHostName, ///< The "HostName" parameter passed to Connect() is invalid.
InvalidMulticastIP, ///< The "MulticastIP" parameter was not in the range "224.0.0.0" - "239.255.255.255"
ClientAlreadyConnected, ///< Connect() was called whilst already connected to a DataStream.
ClientConnectionFailed, ///< Connect() could not establish a connection to the DataStream server.
ServerAlreadyTransmittingMulticast, ///< StartTransmittingMulticast() was called when the current DataStream server was already transmitting multicast on behalf of this client.
ServerNotTransmittingMulticast, ///< StopTransmittingMulticast() was called when the current DataStream server was not transmitting multicasr on behalf of this client.
NotConnected, ///< You have called a function which requires a connection to the DataStream server, but do not have a connection.
NoFrame, ///< You have called a function which requires a frame to be fetched from the DataStream server, but do not have a frame.
InvalidIndex, ///< An index you have passed to a function is out of range.
InvalidCameraName, ///< The Camera Name you passed to a function is invalid in this frame.
InvalidSubjectName, ///< The Subject Name you passed to a function is invalid in this frame.
InvalidSegmentName, ///< The Segment Name you passed to a function is invalid in this frame.
InvalidMarkerName, ///< The Marker Name you passed to a function is invalid in this frame.
InvalidDeviceName, ///< The Device Name you passed to a function is invalid in this frame.
InvalidDeviceOutputName, ///< The Device Output Name you passed to a function is invalid in this frame.
InvalidLatencySampleName, ///< The Latency Sample Name you passed to a function is invalid in this frame.
CoLinearAxes, ///< The directions passed to SetAxisMapping() contain input which would cause two or more axis to lie along the same line, e.g. "Up" and "Down" are on the same line.
LeftHandedAxes, ///< The directions passed to SetAxisMapping() would result in a left handed co-ordinate system. This is not supported in the SDK.
HapticAlreadySet ///< Haptic feedback is already set
};
}
/// The version information returned by Client::GetVersion.
class Output_GetVersion
{
public:
/// Major version number of the SDK.
unsigned int Major;
/// Minor version number of the SDK.
unsigned int Minor;
/// Point version number of the SDK.
unsigned int Point;
};
class Output_SimpleResult
{
public:
Result::Enum Result;
};
// Output objects that only return a result enum
class Output_Connect : public Output_SimpleResult {};
class Output_ConnectToMulticast : public Output_SimpleResult {};
class Output_Disconnect : public Output_SimpleResult {};
class Output_StartTransmittingMulticast : public Output_SimpleResult {};
class Output_StopTransmittingMulticast : public Output_SimpleResult {};
class Output_EnableSegmentData : public Output_SimpleResult {};
class Output_EnableMarkerData : public Output_SimpleResult {};
class Output_EnableUnlabeledMarkerData : public Output_SimpleResult {};
class Output_EnableMarkerRayData : public Output_SimpleResult {};
class Output_EnableDeviceData : public Output_SimpleResult {};
class Output_EnableCentroidData : public Output_SimpleResult {};
class Output_EnableGreyscaleData : public Output_SimpleResult {};
class Output_EnableDebugData : public Output_SimpleResult {};
class Output_DisableSegmentData : public Output_SimpleResult {};
class Output_DisableMarkerData : public Output_SimpleResult {};
class Output_DisableUnlabeledMarkerData : public Output_SimpleResult {};
class Output_DisableMarkerRayData : public Output_SimpleResult {};
class Output_DisableDeviceData : public Output_SimpleResult {};
class Output_DisableCentroidData : public Output_SimpleResult {};
class Output_DisableGreyscaleData : public Output_SimpleResult {};
class Output_DisableDebugData : public Output_SimpleResult {};
class Output_SetStreamMode : public Output_SimpleResult {};
class Output_SetApexDeviceFeedback : public Output_SimpleResult {};
class Output_SetAxisMapping : public Output_SimpleResult {};
class Output_GetFrame : public Output_SimpleResult {};
class Output_SetCameraFilter : public Output_SimpleResult {};
class Output_EnabledFlag
{
public:
bool Enabled;
};
// Output objects that only return an enabled flag
class Output_IsSegmentDataEnabled : public Output_EnabledFlag {};
class Output_IsMarkerDataEnabled : public Output_EnabledFlag {};
class Output_IsUnlabeledMarkerDataEnabled : public Output_EnabledFlag {};
class Output_IsMarkerRayDataEnabled : public Output_EnabledFlag {};
class Output_IsDeviceDataEnabled : public Output_EnabledFlag {};
class Output_IsCentroidDataEnabled : public Output_EnabledFlag {};
class Output_IsGreyscaleDataEnabled : public Output_EnabledFlag {};
class Output_IsDebugDataEnabled : public Output_EnabledFlag {};
class Output_IsConnected
{
public:
bool Connected;
};
class Output_GetAxisMapping
{
public:
Direction::Enum XAxis;
Direction::Enum YAxis;
Direction::Enum ZAxis;
};
class Output_GetFrameNumber
{
public:
Result::Enum Result;
unsigned int FrameNumber;
};
class Output_GetTimecode
{
public:
Result::Enum Result;
unsigned int Hours;
unsigned int Minutes;
unsigned int Seconds;
unsigned int Frames;
unsigned int SubFrame;
bool FieldFlag;
TimecodeStandard::Enum Standard;
unsigned int SubFramesPerFrame;
unsigned int UserBits;
};
class Output_GetFrameRate
{
public:
Result::Enum Result;
double FrameRateHz;
};
class Output_GetLatencySampleCount
{
public:
Result::Enum Result;
unsigned int Count;
};
class Output_GetLatencySampleName
{
public:
Result::Enum Result;
String Name;
};
class Output_GetLatencySampleValue
{
public:
Result::Enum Result;
double Value;
};
class Output_GetLatencyTotal
{
public:
Result::Enum Result;
double Total;
};
class Output_GetHardwareFrameNumber
{
public:
Result::Enum Result;
unsigned int HardwareFrameNumber;
};
class Output_GetSubjectCount
{
public:
Result::Enum Result;
unsigned int SubjectCount;
};
class Output_GetSubjectName
{
public:
Result::Enum Result;
String SubjectName;
};
class Output_GetSubjectRootSegmentName
{
public:
Result::Enum Result;
String SegmentName;
};
class Output_GetSegmentChildCount
{
public:
Result::Enum Result;
unsigned int SegmentCount;
};
class Output_GetSegmentChildName
{
public:
Result::Enum Result;
String SegmentName;
};
class Output_GetSegmentParentName
{
public:
Result::Enum Result;
String SegmentName;
};
class Output_GetSegmentCount
{
public:
Result::Enum Result;
unsigned int SegmentCount;
};
class Output_GetSegmentName
{
public:
Result::Enum Result;
String SegmentName;
};
class Output_GetSegmentStaticTranslation
{
public:
Result::Enum Result;
double Translation[ 3 ];
};
class Output_GetSegmentStaticRotationHelical
{
public:
Result::Enum Result;
double Rotation[ 3 ];
};
class Output_GetSegmentStaticRotationMatrix
{
public:
Result::Enum Result;
double Rotation[ 9 ];
};
class Output_GetSegmentStaticRotationQuaternion
{
public:
Result::Enum Result;
double Rotation[ 4 ];
};
class Output_GetSegmentStaticRotationEulerXYZ
{
public:
Result::Enum Result;
double Rotation[ 3 ];
};
class Output_GetSegmentGlobalTranslation
{
public:
Result::Enum Result;
double Translation[ 3 ];
bool Occluded;
};
class Output_GetSegmentGlobalRotationHelical
{
public:
Result::Enum Result;
double Rotation[ 3 ];
bool Occluded;
};
class Output_GetSegmentGlobalRotationMatrix
{
public:
Result::Enum Result;
double Rotation[ 9 ];
bool Occluded;
};
class Output_GetSegmentGlobalRotationQuaternion
{
public:
Result::Enum Result;
double Rotation[ 4 ];
bool Occluded;
};
class Output_GetSegmentGlobalRotationEulerXYZ
{
public:
Result::Enum Result;
double Rotation[ 3 ];
bool Occluded;
};
class Output_GetSegmentLocalTranslation
{
public:
Result::Enum Result;
double Translation[ 3 ];
bool Occluded;
};
class Output_GetSegmentLocalRotationHelical
{
public:
Result::Enum Result;
double Rotation[ 3 ];
bool Occluded;
};
class Output_GetSegmentLocalRotationMatrix
{
public:
Result::Enum Result;
double Rotation[ 9 ];
bool Occluded;
};
class Output_GetSegmentLocalRotationQuaternion
{
public:
Result::Enum Result;
double Rotation[ 4 ];
bool Occluded;
};
class Output_GetSegmentLocalRotationEulerXYZ
{
public:
Result::Enum Result;
double Rotation[ 3 ];
bool Occluded;
};
class Output_GetMarkerCount
{
public:
Result::Enum Result;
unsigned int MarkerCount;
};
class Output_GetMarkerName
{
public:
Result::Enum Result;
String MarkerName;
};
class Output_GetMarkerParentName
{
public:
Result::Enum Result;
String SegmentName;
};
class Output_GetMarkerGlobalTranslation
{
public:
Result::Enum Result;
double Translation[ 3 ];
bool Occluded;
};
class Output_GetMarkerRayContributionCount
{
public:
Result::Enum Result;
unsigned int RayContributionsCount;
};
class Output_GetMarkerRayContribution
{
public:
Result::Enum Result;
unsigned int CameraID;
unsigned int CentroidIndex;
};
class Output_GetUnlabeledMarkerCount
{
public:
Result::Enum Result;
unsigned int MarkerCount;
};
class Output_GetUnlabeledMarkerGlobalTranslation
{
public:
Result::Enum Result;
double Translation[ 3 ];
};
class Output_GetLabeledMarkerCount
{
public:
Result::Enum Result;
unsigned int MarkerCount;
};
class Output_GetLabeledMarkerGlobalTranslation
{
public:
Result::Enum Result;
double Translation[ 3 ];
};
class Output_GetDeviceCount
{
public:
Result::Enum Result;
unsigned int DeviceCount;
};
class Output_GetDeviceName
{
public:
Result::Enum Result;
String DeviceName;
DeviceType::Enum DeviceType;
};
class Output_GetDeviceOutputCount
{
public:
Result::Enum Result;
unsigned int DeviceOutputCount;
};
class Output_GetDeviceOutputName
{
public:
Result::Enum Result;
String DeviceOutputName;
Unit::Enum DeviceOutputUnit;
};
class Output_GetDeviceOutputValue
{
public:
Result::Enum Result;
double Value;
bool Occluded;
};
class Output_GetDeviceOutputSubsamples
{
public:
Result::Enum Result;
unsigned int DeviceOutputSubsamples;
bool Occluded;
};
class Output_GetForcePlateCount
{
public:
Result::Enum Result;
unsigned int ForcePlateCount;
};
class Output_GetGlobalForceVector
{
public:
Result::Enum Result;
double ForceVector[ 3 ];
};
class Output_GetGlobalMomentVector
{
public:
Result::Enum Result;
double MomentVector[ 3 ];
};
class Output_GetGlobalCentreOfPressure
{
public:
Result::Enum Result;
double CentreOfPressure[ 3 ];
};
class Output_GetForcePlateSubsamples
{
public:
Result::Enum Result;
unsigned int ForcePlateSubsamples;
};
class Output_GetEyeTrackerCount
{
public:
Result::Enum Result;
unsigned int EyeTrackerCount;
};
class Output_GetEyeTrackerGlobalPosition
{
public:
Result::Enum Result;
double Position[ 3 ];
bool Occluded;
};
class Output_GetEyeTrackerGlobalGazeVector
{
public:
Result::Enum Result;
double GazeVector[ 3 ];
bool Occluded;
};
class Output_GetCameraCount
{
public:
Result::Enum Result;
unsigned int CameraCount;
};
class Output_GetCameraName
{
public:
Result::Enum Result;
String CameraName;
};
class Output_GetCameraId
{
public:
Result::Enum Result;
unsigned int CameraId;
};
class Output_GetCameraUserId
{
public:
Result::Enum Result;
unsigned int CameraUserId;
};
class Output_GetCameraType
{
public:
Result::Enum Result;
String CameraType;
};
class Output_GetCameraDisplayName
{
public:
Result::Enum Result;
String CameraDisplayName;
};
class Output_GetCameraResolution
{
public:
Result::Enum Result;
unsigned int ResolutionX;
unsigned int ResolutionY;
};
class Output_GetIsVideoCamera
{
public:
Result::Enum Result;
bool IsVideoCamera;
};
class Output_GetCentroidCount
{
public:
Result::Enum Result;
unsigned int CentroidCount;
};
class Output_GetCentroidPosition
{
public:
Result::Enum Result;
double CentroidPosition[ 2 ];
double Radius;
// double Accuracy;
};
class Output_GetGreyscaleBlobCount
{
public:
Result::Enum Result;
unsigned int BlobCount;
};
class Output_GetGreyscaleBlob
{
public:
Result::Enum Result;
std::vector< unsigned int > BlobLinePositionsX;
std::vector< unsigned int > BlobLinePositionsY;
std::vector< std::vector< unsigned char > > BlobLinePixelValues;
};
class ClientImpl;
/// Vicon DataStream SDK client.
/// The core client class for C++.
class CLASS_DECLSPEC Client
{
public:
/// Construction.
/// You can create many instances of the Vicon DataStream Client which can connect to multiple Vicon DataStream Servers.
/// C++ version of the SDK is object oriented, so use the class constructor.
///
/// {
/// ViconDataStreamSDK::CPP::Client StackClient;
/// Output_SomeFunction Output = StackClient.SomeFunction();
/// // ...
/// }
/// // Client is implicitly destroyed as it goes out of scope.
///
/// Alternatively it can be made on the heap.
///
/// ViconDataStreamSDK::CPP::Client * pHeapClient = new ViconDataStreamSDK::CPP::Client();
/// Output_SomeFunction Output = pHeapClient->SomeFunction( Input );
/// delete pHeapClient;
///
Client();
/// Destruction.
/// Destruction will Disconnect if required.
///
/// See Client::Client for an example.
~Client();
/// Get the version of the Vicon DataStream SDK.
/// + **Major**
/// When this number increases we break backwards compatibility with previous major versions.
/// + **Minor**
/// When this number increases we have probably added new functionality to the SDK without breaking
/// backwards compatibility with previous versions.
/// + **Point**
/// When this number increases, we have introduced a bug fix or performance enhancement without breaking
/// backwards compatibility with previous versions.
///
/// The function can be called without the client being connected.
///
/// ViconDataStreamSDK::CPP::Client MyClient;
/// Output_GetVersion Output = MyClient.GetVersion();
///
/// \return Output_GetVersion class containing the version information.
Output_GetVersion GetVersion() const;
/// Establish a dedicated connection to a Vicon DataStream Server.
///
/// See Also : ConnectToMulticast, Disconnect, IsConnected.
///
/// The function defaults to connecting on port 801.
/// You can specify an alternate port number after a colon.
/// This is for future compatability, current products serve data on port 801 only.
///
/// ViconDataStreamSDK::CPP::Client MyClient;
/// Output_Connect Output = MyClient.Connect( "localhost" );
///
/// \param HostName The DNS identifiable name, or IP address of the PC hosting the DataStream server.
/// For example:
/// + "localhost"
/// + "MyViconPC:801"
/// + "10.0.0.2"
/// \return An Output_Connect class containing the result of the connect operation.
/// The Result will be:
/// + Success
/// + InvalidHostName
/// + ClientAlreadyConnected
/// + ClientConnectionFailed
Output_Connect Connect( const String & HostName );
/// Connect to a Vicon DataStream Server's Multicast stream.
/// The stream content is managed by a client who calls StartTransmittingMulticast().
///
/// See Also : Connect, Disconnect, IsConnected, StartTransmittingMulticast, StopTransmittingMulticast
///
/// // class Output_ConnectToMulticast
/// // {
/// // public:
/// // Result::Enum Result;
/// // };
///
/// ViconDataStreamSDK::CPP::Client MyClient;
/// Output_ConnectToMulticast Output = MyClient.ConnectToMulticast( "localhost", "224.0.0.0" );
///
///
/// \param LocalIP The DNS identifiable name, or IP address of the local Ethernet interface
/// on which you wish to receive multicast data.
/// You should not specify a port (any port specified will be ignored).
/// For example:
/// + "localhost"
/// + "10.0.0.2"
/// \param MulticastIP The IP Address of the Multicast group on which data will be received.
/// The address should be in the range "224.0.0.0" - "239.255.255.255"
/// You may also specify a port by appending it to the end of the IP Address
/// after a colon. e.g. 224.0.0.0:30001.
/// If you do not specify a port it will default to 44801.
/// \return An Output_ConnectToMulticast class containing the result of the connect operation.
/// The Result will be:
/// + Success
/// + InvalidHostName
/// + InvalidMulticastIP
/// + ClientAlreadyConnected
/// + ClientConnectionFailed
Output_ConnectToMulticast ConnectToMulticast( const String & LocalIP, const String & MulticastIP );
/// Disconnect from the Vicon DataStream Server.
///
/// See Also : Connect, IsConnected
///
/// ViconDataStreamSDK::CPP::Client MyClient;
/// MyClient.Connect( "localhost" );
/// Output_Disconnect Output = MyClient.Disconnect();
///
/// \return An Output_Disconnect class containing the result of the operation.
/// The Result will be:
/// + Success
/// + NotConnected
Output_Disconnect Disconnect();
/// Discover whether client is connected to the Vicon DataStream Server.
///
/// See Also : Connect, Disconnect
///
/// ViconDataStreamSDK::CPP::CPP::Client MyClient;
/// Output_IsConnected Output = MyClient.IsConnected()
/// // Output.Connected == false
/// MyClient.Connect( "localhost" );
/// Output_IsConnected Output = MyClient.IsConnected()
/// // Output.Connected == true
/// // (assuming localhost is serving)
///
/// \return An Output_IsConnected class containing the true if you are
/// connected to the stream, otherwise false.
Output_IsConnected IsConnected() const;
/// Ask the DataStream Server to start transmitting the data you are receiving directly to a Multicast address as well.
/// This allows multiple clients to connect to your stream (via ConnectToMulticast() ) whilst minimizing network
/// bandwidth use and frame delivery latency.
/// See Also : Connect, ConnectToMulticast, Disconnect, StopTransmittingMulticast
///
/// ViconDataStreamSDK::CPP::CPP::Client MyClient;
/// MyClient.Connect( "localhost" );
/// MyClient.StartTransmittingMulticast( "10.0.0.1", "224.0.0.0" );
///
/// \param ServerIP The IP Address of the server Ethernet interface from which the Multicast data will be sent.
/// You should not specify a port number (any port number specified will be ignored).
/// \param MulticastIP The IP Address of the Multicast group to which multicast data will be sent.
/// The address should be in the range 224.0.0.0 - 239.255.255.255. You may also specify
/// the port the data will be sent to by appending it to the IP Address after a colon
/// e.g. 224.0.0.0:30001. If you do not specify a port it will default to 44801.
/// \return An Output_StartTransmittingMulticast class containing the result of the operation.
/// The Result will be:
/// + Success
/// + NotConnected
/// + InvalidMulticastIP
/// + ServerAlreadyTransmittingMulticast
Output_StartTransmittingMulticast StartTransmittingMulticast( const String & ServerIP,
const String & MulticastIP );
/// Ask the DataStream Server to stop transmitting the data you are receiving directly to a Multicast address as well.
/// You must previously have started a transmission via StartTransmittingMulticast.
///
/// See Also : Connect, ConnectToMulticast, Disconnect, StartTransmittingMulticast
///
/// ViconDataStreamSDK::CPP::CPP::Client MyClient;
/// MyClient.Connect( "localhost" );
/// MyClient.StartTransmittingMulticast( "10.0.0.1", "224.0.0.0" );
/// // Do some stuff
/// MyClient.StopTransmittingMulticast();
///
/// \return An Output_StopTransmittingMulticast class containing the result of the operation.
/// The Result will be:
/// + Success
/// + NotConnected
/// + ServerNotTransmittingMulticast
Output_StopTransmittingMulticast StopTransmittingMulticast();
/// Set the number of frames that the client should buffer.
/// The default value is 1 which always supplies the latest frame.
/// Choose higher values to reduce the risk of missing frames between calls
/// to GetFrame()
void SetBufferSize( unsigned int i_BufferSize );
Output_EnableSegmentData EnableSegmentData();
Output_EnableMarkerData EnableMarkerData();
Output_EnableUnlabeledMarkerData EnableUnlabeledMarkerData();
Output_EnableMarkerRayData EnableMarkerRayData();
Output_EnableDeviceData EnableDeviceData();
Output_EnableCentroidData EnableCentroidData();
Output_EnableGreyscaleData EnableGreyscaleData();
Output_EnableDebugData EnableDebugData();
Output_DisableSegmentData DisableSegmentData();
Output_DisableMarkerData DisableMarkerData();
Output_DisableUnlabeledMarkerData DisableUnlabeledMarkerData();
Output_DisableMarkerRayData DisableMarkerRayData();
Output_DisableDeviceData DisableDeviceData();
Output_DisableCentroidData DisableCentroidData();
Output_DisableGreyscaleData DisableGreyscaleData();
Output_DisableDebugData DisableDebugData();
Output_IsSegmentDataEnabled IsSegmentDataEnabled() const;
Output_IsMarkerDataEnabled IsMarkerDataEnabled() const;
Output_IsUnlabeledMarkerDataEnabled IsUnlabeledMarkerDataEnabled() const;
Output_IsMarkerRayDataEnabled IsMarkerRayDataEnabled() const;
Output_IsDeviceDataEnabled IsDeviceDataEnabled() const;
Output_IsCentroidDataEnabled IsCentroidDataEnabled() const;
Output_IsGreyscaleDataEnabled IsGreyscaleDataEnabled() const;
Output_IsDebugDataEnabled IsDebugDataEnabled() const;
Output_SetStreamMode SetStreamMode( const StreamMode::Enum Mode );
Output_SetApexDeviceFeedback SetApexDeviceFeedback( const String& i_rDeviceName, bool i_bOn );
Output_SetAxisMapping SetAxisMapping( const Direction::Enum XAxis, const Direction::Enum YAxis, const Direction::Enum ZAxis );
Output_GetAxisMapping GetAxisMapping() const;
Output_GetFrame GetFrame();
Output_GetFrameNumber GetFrameNumber() const;
Output_GetTimecode GetTimecode() const;
Output_GetFrameRate GetFrameRate() const;
Output_GetLatencySampleCount GetLatencySampleCount() const;
Output_GetLatencySampleName GetLatencySampleName( const unsigned int LatencySampleIndex ) const;
Output_GetLatencySampleValue GetLatencySampleValue( const String & LatencySampleName ) const;
Output_GetLatencyTotal GetLatencyTotal() const;
Output_GetHardwareFrameNumber GetHardwareFrameNumber() const;
Output_GetSubjectCount GetSubjectCount() const;
Output_GetSubjectName GetSubjectName( const unsigned int SubjectIndex ) const;
Output_GetSubjectRootSegmentName GetSubjectRootSegmentName( const String & SubjectName ) const;
Output_GetSegmentCount GetSegmentCount( const String & SubjectName ) const;
Output_GetSegmentName GetSegmentName( const String & SubjectName,
const unsigned int SegmentIndex ) const;
Output_GetSegmentChildCount GetSegmentChildCount( const String & SubjectName,
const String & SegmentName ) const;
Output_GetSegmentChildName GetSegmentChildName( const String & SubjectName,
const String & SegmentName,
const unsigned int SegmentIndex ) const;
Output_GetSegmentParentName GetSegmentParentName( const String & SubjectName,
const String & SegmentName ) const;
Output_GetSegmentStaticTranslation GetSegmentStaticTranslation( const String & SubjectName,
const String & SegmentName ) const;
Output_GetSegmentStaticRotationHelical GetSegmentStaticRotationHelical( const String & SubjectName,
const String & SegmentName ) const;
Output_GetSegmentStaticRotationMatrix GetSegmentStaticRotationMatrix( const String & SubjectName,
const String & SegmentName ) const;
Output_GetSegmentStaticRotationQuaternion GetSegmentStaticRotationQuaternion( const String & SubjectName,
const String & SegmentName ) const;
/// Return the static pose rotation of a subject segment in EulerXYZ co-ordinates.
///
/// See Also : GetSegmentStaticTranslation, GetSegmentStaticRotationHelical, GetSegmentStaticRotationMatrix,
/// GetSegmentStaticRotationQuaternion, GetSegmentLocalTranslation, GetSegmentLocalRotationHelical,
/// GetSegmentLocalRotationMatrix, GetSegmentLocalRotationQuaternion, GetSegmentLocalRotationEulerXYZ.
///
/// ViconDataStreamSDK::CPP::Client MyClient;
/// MyClient.Connect( "localhost" );
/// MyClient.GetFrame();
/// Output_GetSegmentStaticRotationEulerXYZ Output;
/// Output = MyClient.GetSegmentStaticRotationEulerXYZ( "Alice", "Pelvis" );
///
/// \param SubjectName The name of the subject.
/// \param SegmentName The name of the segment.
/// \return A Output_GetSegmentStaticRotationEulerXYZ class containing the result of the request
/// and the rotation of the segment \f$(x,y,z)\f$.
/// + Success
/// + NotConnected
/// + NoFrame
/// + InvalidSubjectName
/// + InvalidSegmentName
Output_GetSegmentStaticRotationEulerXYZ GetSegmentStaticRotationEulerXYZ( const String & SubjectName,
const String & SegmentName ) const;
Output_GetSegmentGlobalTranslation GetSegmentGlobalTranslation( const String & SubjectName,
const String & SegmentName ) const;
Output_GetSegmentGlobalRotationHelical GetSegmentGlobalRotationHelical( const String & SubjectName,
const String & SegmentName ) const;
Output_GetSegmentGlobalRotationMatrix GetSegmentGlobalRotationMatrix( const String & SubjectName,
const String & SegmentName ) const;
Output_GetSegmentGlobalRotationQuaternion GetSegmentGlobalRotationQuaternion( const String & SubjectName,
const String & SegmentName ) const;
Output_GetSegmentGlobalRotationEulerXYZ GetSegmentGlobalRotationEulerXYZ( const String & SubjectName,
const String & SegmentName ) const;
Output_GetSegmentLocalTranslation GetSegmentLocalTranslation( const String & SubjectName,
const String & SegmentName ) const;
Output_GetSegmentLocalRotationHelical GetSegmentLocalRotationHelical( const String & SubjectName,
const String & SegmentName ) const;
Output_GetSegmentLocalRotationMatrix GetSegmentLocalRotationMatrix( const String & SubjectName,
const String & SegmentName ) const;
Output_GetSegmentLocalRotationQuaternion GetSegmentLocalRotationQuaternion( const String & SubjectName,
const String & SegmentName ) const;
Output_GetSegmentLocalRotationEulerXYZ GetSegmentLocalRotationEulerXYZ( const String & SubjectName,
const String & SegmentName ) const;
Output_GetMarkerCount GetMarkerCount( const String & SubjectName ) const;
Output_GetMarkerName GetMarkerName( const String & SubjectName,
const unsigned int MarkerIndex ) const;
Output_GetMarkerParentName GetMarkerParentName( const String & SubjectName,
const String & MarkerName ) const;
Output_GetMarkerGlobalTranslation GetMarkerGlobalTranslation( const String & SubjectName,
const String & MarkerName ) const;
Output_GetMarkerRayContributionCount GetMarkerRayContributionCount( const String & SubjectName,
const String & MarkerName ) const;
Output_GetMarkerRayContribution GetMarkerRayContribution( const String & SubjectName,
const String & MarkerName,
unsigned int MarkerRayContributionIndex ) const;
Output_GetUnlabeledMarkerCount GetUnlabeledMarkerCount() const;
Output_GetUnlabeledMarkerGlobalTranslation GetUnlabeledMarkerGlobalTranslation( const unsigned int MarkerIndex ) const;
Output_GetLabeledMarkerCount GetLabeledMarkerCount() const;
Output_GetLabeledMarkerGlobalTranslation GetLabeledMarkerGlobalTranslation( const unsigned int MarkerIndex ) const;
Output_GetDeviceCount GetDeviceCount() const;
Output_GetDeviceName GetDeviceName( const unsigned int DeviceIndex ) const;
Output_GetDeviceOutputCount GetDeviceOutputCount( const String & DeviceName ) const;
Output_GetDeviceOutputName GetDeviceOutputName( const String & DeviceName,
const unsigned int DeviceOutputIndex ) const;
Output_GetDeviceOutputValue GetDeviceOutputValue( const String & DeviceName,
const String & DeviceOutputName ) const;
Output_GetDeviceOutputSubsamples GetDeviceOutputSubsamples( const String & DeviceName,
const String & DeviceOutputName ) const;
Output_GetDeviceOutputValue GetDeviceOutputValue( const String & DeviceName,
const String & DeviceOutputName,
const unsigned int Subsample ) const;
Output_GetForcePlateCount GetForcePlateCount() const;
Output_GetGlobalForceVector GetGlobalForceVector( const unsigned int ForcePlateIndex ) const;
Output_GetGlobalMomentVector GetGlobalMomentVector( const unsigned int ForcePlateIndex ) const;
Output_GetGlobalCentreOfPressure GetGlobalCentreOfPressure( const unsigned int ForcePlateIndex ) const;
Output_GetForcePlateSubsamples GetForcePlateSubsamples( const unsigned int ForcePlateIndex ) const;
Output_GetGlobalForceVector GetGlobalForceVector( const unsigned int ForcePlateIndex, const unsigned int Subsample ) const;
Output_GetGlobalMomentVector GetGlobalMomentVector( const unsigned int ForcePlateIndex, const unsigned int Subsample ) const;
Output_GetGlobalCentreOfPressure GetGlobalCentreOfPressure( const unsigned int ForcePlateIndex, const unsigned int Subsample ) const;
Output_GetEyeTrackerCount GetEyeTrackerCount() const;
Output_GetEyeTrackerGlobalPosition GetEyeTrackerGlobalPosition( const unsigned int EyeTrackerIndex ) const;
Output_GetEyeTrackerGlobalGazeVector GetEyeTrackerGlobalGazeVector( const unsigned int EyeTrackerIndex ) const;
Output_GetCameraCount GetCameraCount() const;
Output_GetCameraName GetCameraName( unsigned int i_CameraIndex ) const;
Output_GetCameraId GetCameraId( const std::string & i_rCameraName ) const;
Output_GetCameraUserId GetCameraUserId( const std::string & i_rCameraName ) const;
Output_GetCameraType GetCameraType( const std::string & i_rCameraName ) const;
Output_GetCameraDisplayName GetCameraDisplayName( const std::string & i_rCameraName ) const;
Output_GetCameraResolution GetCameraResolution( const std::string & i_rCameraName ) const;
Output_GetIsVideoCamera GetIsVideoCamera( const std::string & i_rCameraName ) const;
Output_GetCentroidCount GetCentroidCount( const std::string & i_rCameraName ) const;
Output_GetCentroidPosition GetCentroidPosition( const std::string & i_rCameraName, const unsigned int i_CentroidIndex ) const;
Output_GetGreyscaleBlobCount GetGreyscaleBlobCount( const std::string & i_rCameraName ) const;
Output_GetGreyscaleBlob GetGreyscaleBlob( const std::string & i_rCameraName, const unsigned int i_BlobIndex ) const;
Output_SetCameraFilter SetCameraFilter( const std::vector< unsigned int > & i_rCameraIdsForCentroids, const std::vector< unsigned int > & i_rCameraIdsForBlobs );
private:
ClientImpl * m_pClientImpl;
};
} // End of namespace CPP
} // End of namespace ViconDataStreamSDK
pps_ws/src/d_fall_pps/src/ViconDataNode.cpp
+ 1
− 0
View file @ e2dc58ff
......@@ -9,6 +9,7 @@
//
///////////////////////////////////////////////////////////////////////////////
#include <DataStreamClient.h>
#include "ros/ros.h"
int main( int argc, char* argv[] )
......
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