telekyb_vrpn: VRPNTrackerServerOptions.cpp Source File

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00001 /*
00002  * VRPNTrackerServerOptions.cpp
00003  *
00004  *  Created on: Jan 9, 2012
00005  *      Author: mriedel
00006  */
00007 
00008 #include <telekyb_vrpn/VRPNTrackerServerOptions.hpp>
00009 
00010 namespace TELEKYB_NAMESPACE {
00011 
00012 //template<> VRPNTrackerServerOptions* Singleton<VRPNTrackerServerOptions>::instance = NULL;
00013 
00014 VRPNTrackerServerOptions::VRPNTrackerServerOptions()
00015         : OptionContainer("VRPNTrackerServer")
00016 {
00017         tVRPNTopicNames = addOption< std::vector<std::string> >("tVRPNTopicNames",
00018                         "Topics to publish", std::vector<std::string>(), true, true);
00019 
00020         Eigen::Matrix3d m = Eigen::Matrix3d::Zero();
00021         m.diagonal() << 1.0,-1.0,-1.0;
00022         tViconToNEDMatrix = addOption<Eigen::Matrix3d>("tViconToNEDMatrix","ConversionMatrix from Vicon to NED", m,false,true);
00023 
00024 }
00025 
00026 }