#include <Driver.hpp>

Inheritance diagram for qualisys::Driver:

Public Member Functions
	Driver ()

	~Driver ()

void	connect (const std::string &host, const unsigned int base_port=22222)
	connect to qualisys server More...

void	loadParameters (std::vector< std::string > &labels)
	load marker configuration data from the server More...

void	startStreamData (const std::string &label)
	start streaming marker data from the QTM Server More...

void	stopStreamData ()
	stop streaming of marker data More...

bool	getTransform (base::Time &time, base::Affine3d &transform)
	read a marker packet More...

Protected Member Functions
bool	setQTMVersion (int major, int minor)

bool	readQTMString (std::string &qtmstring)

std::string	getBufferString ()

bool	readQTMPacket (QTMHeader::EPacketType type)

void	writeQTMCommand (const std::string &cmd)

void	writeQTMCommand (uint8_t const *buffer, size_t size)

int	extractPacket (uint8_t const *buffer, size_t size) const

Protected Attributes
uint8_t *	buffer

size_t	buffer_size

int	body_idx

Static Protected Attributes
static const size_t	MAX_MARKERS = 64
	maximum number of markers supported More...

Constructor & Destructor Documentation

Driver::Driver ( )

Driver::~Driver ( )

Member Function Documentation

void Driver::connect	(	const std::string &	host,
		const unsigned int	base_port = `22222`
	)

connect to qualisys server

Connect to qualisys server using the given host and base_port. Will throw if connection attempt is not successful.

Parameters

host	host of the qualisys server
base_port	the base port number of the server. This is not the actual port it is connecting to, as this is determined by the endianess of the connecting machine.

int Driver::extractPacket	(	uint8_t const *	buffer,
		size_t	size
	)		const

protected

std::string Driver::getBufferString ( )

protected

bool Driver::getTransform	(	base::Time &	time,
		base::Affine3d &	transform
	)

read a marker packet

Reads a marker packet and store the transformation for the given marker_idx in the given transform reference. The marker/body index is selected in the startStreamData call.

Parameters

time	[out] timestamp of the read packet
transform	[out] body to world transform of the given marker index

void Driver::loadParameters ( std::vector< std::string > & labels )

load marker configuration data from the server

loads the marker/body configuration data from the server, and fills the labels array with a list of found labels.

bool Driver::readQTMPacket ( QTMHeader::EPacketType type )

protected

bool Driver::readQTMString ( std::string & result )

protected

reads a packet from the stream and interprets it as a string

bool Driver::setQTMVersion	(	int	major,
		int	minor
	)

protected

write a version command

void Driver::startStreamData ( const std::string & label )

start streaming marker data from the QTM Server

if connected, this will get the QTMServer to start streaming the processed marker data. The data can be read using the getTransform() method.

void Driver::stopStreamData ( )

stop streaming of marker data

void Driver::writeQTMCommand ( const std::string & cmd )

protected

void Driver::writeQTMCommand	(	uint8_t const *	buffer,
		size_t	size
	)

protected

Member Data Documentation

int qualisys::Driver::body_idx

protected

uint8_t* qualisys::Driver::buffer

protected

size_t qualisys::Driver::buffer_size

protected

const size_t qualisys::Driver::MAX_MARKERS = 64

staticprotected

maximum number of markers supported

The documentation for this class was generated from the following files:

/build/rock-master-18.09-drivers-qualisys-0.20171014/src/Driver.hpp
/build/rock-master-18.09-drivers-qualisys-0.20171014/src/Driver.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation