ViconDriver.hpp

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#ifndef __VICON_DRIVER_HPP__
#define __VICON_DRIVER_HPP__

#include <base/Time.hpp>
#include <base/Eigen.hpp>

#include <boost/shared_ptr.hpp>

#include <Eigen/Core>
#include <Eigen/Geometry>

#include <vector>

namespace vicon
{

    class DriverImpl;

    class Driver
    {
    public:
        enum GetResult { UNKNOWN, SUCCESS, INVALID_SUBJECT_NAME, INVALID_SEGMENT_NAME};

    Driver();

    bool connect( const std::string& hostname, const unsigned int port = 801 );

    bool isConnected();

    void disconnect();

    bool getFrame( const base::Time& timeout = base::Time::fromSeconds(1.0) );

    base::Time getTimestamp();

    Eigen::Affine3d getSegmentTransform( const std::string& subjectName, const std::string& segmentName, bool& inFrame);

    Eigen::Affine3d getSegmentTransform( const std::string& subjectName, const std::string& segmentName) { 
        bool lin_frame; 
        return getSegmentTransform ( subjectName, segmentName, lin_frame );
    }

        GetResult getLastResult() { return mLastResult; }

    std::vector<base::Vector3d> getUnlabeledMarkers();

    void getAxesDir ( int& x_dir, int& y_dir, int& z_dir );

    void setAxesDir ( int x_dir, int y_dir, int z_dir );

    private:
    boost::shared_ptr<DriverImpl> impl;
        GetResult mLastResult;
    };
}

#endif