mocap_datapackets.h

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/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, University of Bonn, Computer Science Institute VI
 *  Author: Kathrin Gräve, 01/2011
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 *
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 *  modification, are permitted provided that the following conditions
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 *
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 *     notice, this list of conditions and the following disclaimer.
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 *     VI nor the names of its contributors may be used to endorse or
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#ifndef __MOCAP_DATAPACKETS_H__
#define __MOCAP_DATAPACKETS_H__

#include <sys/types.h>
#include <iostream>
#include <string>
#include <geometry_msgs/Pose.h>

using namespace std;

class Marker
{
  public:
    float positionX;
    float positionY;
    float positionZ;
};

class Pose
{
  public:
    struct {
      float x;
      float y;
      float z;
    } position;
    struct {
      float x;
      float y;
      float z;
      float w;
    } orientation;
};

class RigidBody
{
  public:
    RigidBody();
    ~RigidBody();

    int ID;
    
    Pose pose; 

    int NumberOfMarkers;
    Marker *marker;

    const geometry_msgs::Pose get_ros_pose();
    bool has_data();
};

class ModelDescription
{
  public:
    ModelDescription();
    ~ModelDescription();

    string name;
    int numMarkers;
    string *markerNames;
};

class MarkerSet
{
  public:
    MarkerSet() : numMarkers(0), markers(0) {}
    ~MarkerSet() { delete[] markers; }
    char name[256];
    int numMarkers;
    Marker *markers;
};

class ModelFrame
{
  public:
    ModelFrame();
    ~ModelFrame();

    MarkerSet *markerSets;
    Marker *otherMarkers;
    RigidBody *rigidBodies;

    int numMarkerSets;
    int numOtherMarkers;
    int numRigidBodies;

    float latency;
};

class MoCapDataFormat
{
  public:
    MoCapDataFormat(const char *packet, unsigned short length);
    ~MoCapDataFormat();

    void parse ();


    const char *packet;
    unsigned short length;

    int frameNumber;
    ModelFrame model;

  private:
    void seek(size_t count);
    template <typename T> void read_and_seek(T& target)
    {
        target = *((T*) packet);
        seek(sizeof(T));
    }
};

#endif  /*__MOCAP_DATAPACKETS_H__*/