vos/corelibs/tracking/trackerd.cc File Reference

This is a simple tracker server: it listens on a socket for commands, reads data from the a position or orientation tracker, and returns the data. More...

Go to the source code of this file.

Compounds

• class FakeOrientation
• class FakePosition

Defines

• #define DEFAULT_PORT   2948

  Default socket port.
  
  

Functions

• double currentTime ()

  Return current time as seconds since unix epoc.
  
  

• void usage ()

  Print summary of command-line options.
  
  

• int main (int argc, char **argv)

  Main.
  
  

---

Detailed Description

This is a simple tracker server: it listens on a socket for commands, reads data from the a position or orientation tracker, and returns the data.

This allows multiple programs to use data from the same tracker.

Author:

Reed Hedges, August 2002

Currently supported position trackers are: GPSD (Remco Treffkorn's GPS daemon: <http://russnelson.com/gpsd/>)

Currently supported orientaiton trackers are: Intersense IS300 on a serial port (soon GPS compass and GPS derived)

Commands are: om:0 Read orientation matrix from tracker #0. Returns: om:0=T11,T12,T13;T21,T22,T23;T31,T32,T33 oa:0 Read orientation angles from tracker #0. Returns: oa:0=YAW,PITCH,ROLL p:0 Read position from tracker #0. Returns: p:0=X,Y,Z

All values are double-precision floating point numbers, as output by printf("%.8f"). (use "%lf" with scanf)

Currently only one orientation tracker (o?:0) and one position tracker (p:0) are possible.

Todo:

support multiple trackers

add commands to set tracker calibrations (offsets and scale factors)

read tracker info from config file no timeout if intersense does not respond (bug in IntersenseOrientation)

Definition in file trackerd.cc.

---

Define Documentation

#define DEFAULT_PORT   2948

Default socket port. Definition at line 84 of file trackerd.cc. Referenced by main(), and usage().

---

Function Documentation

double currentTime (   )

Return current time as seconds since unix epoc. Definition at line 88 of file trackerd.cc. Referenced by main().

int main (  int  argc, char **  argv )

Main. Definition at line 135 of file trackerd.cc.

void usage (   )

Print summary of command-line options. Definition at line 95 of file trackerd.cc. Referenced by main().

---