5 #ifndef VRPN_TRACKER_CROSSBOW_H 6 #define VRPN_TRACKER_CROSSBOW_H 28 const char *port =
"/dev/ttyS0",
long baud = 38400,
29 float g_range = 2.0f,
float ar_range = 100.0f);
43 vrpn_uint32 get_serial_number();
46 const char *get_version_string();
51 void recalibrate(vrpn_uint16 num_samples = 20000);
69 struct timeval init_time;
78 void unbuffer_packet(
raw_packet &dest,
unsigned char *buffer);
82 float convert_scalar(vrpn_int16 data,
float scale)
const;
83 void xb_quat_from_euler(q_type destQuat,
double pitch,
double roll)
const;
virtual void mainloop()
Uses the get_report, send_report, and reset routines to implement a server.
virtual int get_report(void)=0
Gets a report if one is available, returns 0 if not, 1 if complete report.
virtual void reset(void)=0
Reset the tracker.
Generic connection class not specific to the transport mechanism.
virtual void send_report(void)
vrpn_uint32 device_serial