Public Member Functions | Public Attributes | Private Member Functions | Private Attributes | List of all members
gloveServer_impl Class Reference

#include <gloveServer_impl.h>

Public Member Functions

 gloveServer_impl (gloveID id, std::string name)
 
bool init (std::string serialPort)
 
void join ()
 
bool loadCalibFile (const char *srcFileName)
 
void start ()
 
void stop ()
 
void workerThread ()
 this method is called by static method s_workerthread More...
 
 ~gloveServer_impl ()
 

Public Attributes

boost::thread * boostWorkerThread
 Thread for delivering tracker data to nCenter. More...
 
bool threadRunning
 flag switching on/off thread More...
 

Private Member Functions

double getRadian (int index, unsigned char val)
 
double * getRadianArray (unsigned char *data, unsigned int size)
 
bool permuteValues (unsigned char *valIn, unsigned char *valOut)
 permute sensor values according to GLOVERAW_MAP2_GLOVEINVENTOR mapping More...
 
bool sendNotificationDataToRos (double *data, unsigned int size, asr_msgs::AsrGlove gloveData, ros::Publisher publisher)
 Send sensor data to Notification Center. More...
 

Private Attributes

std::vector< double > FulcRad1
 
std::vector< double > FulcRad2
 
std::vector< double > FulcRaw1
 
std::vector< double > FulcRaw2
 
ros::Publisher gloveDataPub
 
ros::Publisher gloveDataPub_radian
 
gloveDevicegloveDev
 
unsigned int GLOVERAW_MAP2_GLOVEINVENTOR [22]
 
gloveID myID
 
std::string myName
 
ros::NodeHandle rosNode
 
char * serialID
 

Detailed Description

Definition at line 49 of file gloveServer_impl.h.

Constructor & Destructor Documentation

gloveServer_impl::gloveServer_impl ( gloveID  id,
std::string  name 
)

Definition at line 37 of file gloveServer_impl.cc.

gloveServer_impl::~gloveServer_impl ( )

Definition at line 48 of file gloveServer_impl.cc.

Member Function Documentation

double gloveServer_impl::getRadian ( int  index,
unsigned char  val 
)
private

Definition at line 268 of file gloveServer_impl.cc.

double * gloveServer_impl::getRadianArray ( unsigned char *  data,
unsigned int  size 
)
private

Definition at line 286 of file gloveServer_impl.cc.

bool gloveServer_impl::init ( std::string  serialPort)

Definition at line 53 of file gloveServer_impl.cc.

void gloveServer_impl::join ( )

Definition at line 152 of file gloveServer_impl.cc.

bool gloveServer_impl::loadCalibFile ( const char *  srcFileName)

remember thread state to restart it after loading in case it was running

alte Kalibrierung loeschen

check consistency

Definition at line 70 of file gloveServer_impl.cc.

bool gloveServer_impl::permuteValues ( unsigned char *  valIn,
unsigned char *  valOut 
)
private

permute sensor values according to GLOVERAW_MAP2_GLOVEINVENTOR mapping

Definition at line 254 of file gloveServer_impl.cc.

bool gloveServer_impl::sendNotificationDataToRos ( double *  data,
unsigned int  size,
asr_msgs::AsrGlove  gloveData,
ros::Publisher  publisher 
)
private

Send sensor data to Notification Center.

Definition at line 294 of file gloveServer_impl.cc.

void gloveServer_impl::start ( )

Definition at line 143 of file gloveServer_impl.cc.

void gloveServer_impl::stop ( )

stop thread

Definition at line 147 of file gloveServer_impl.cc.

void gloveServer_impl::workerThread ( )

this method is called by static method s_workerthread

get data from gloveDevice

permutation according to inventor model

Definition at line 175 of file gloveServer_impl.cc.

Member Data Documentation

boost::thread* gloveServer_impl::boostWorkerThread

Thread for delivering tracker data to nCenter.

Definition at line 66 of file gloveServer_impl.h.

std::vector<double> gloveServer_impl::FulcRad1
private

Definition at line 84 of file gloveServer_impl.h.

std::vector<double> gloveServer_impl::FulcRad2
private

Definition at line 87 of file gloveServer_impl.h.

std::vector<double> gloveServer_impl::FulcRaw1
private

Calibration data. These 2 vector-pairs define 2 fulcrums for interpolation. [rawX] = digits, [radX] = radiant

Definition at line 83 of file gloveServer_impl.h.

std::vector<double> gloveServer_impl::FulcRaw2
private

Definition at line 86 of file gloveServer_impl.h.

ros::Publisher gloveServer_impl::gloveDataPub
private

Definition at line 78 of file gloveServer_impl.h.

ros::Publisher gloveServer_impl::gloveDataPub_radian
private

Definition at line 79 of file gloveServer_impl.h.

gloveDevice* gloveServer_impl::gloveDev
private

Definition at line 73 of file gloveServer_impl.h.

unsigned int gloveServer_impl::GLOVERAW_MAP2_GLOVEINVENTOR[22]
private

Definition at line 74 of file gloveServer_impl.h.

gloveID gloveServer_impl::myID
private

Definition at line 70 of file gloveServer_impl.h.

std::string gloveServer_impl::myName
private

Definition at line 71 of file gloveServer_impl.h.

ros::NodeHandle gloveServer_impl::rosNode
private

Definition at line 77 of file gloveServer_impl.h.

char* gloveServer_impl::serialID
private

Definition at line 72 of file gloveServer_impl.h.

bool gloveServer_impl::threadRunning

flag switching on/off thread

Definition at line 62 of file gloveServer_impl.h.


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


asr_cyberglove_lib
Author(s): Heller Florian, Mei├čner Pascal, Nguyen Trung, Yi Xie
autogenerated on Mon Jun 10 2019 12:40:38