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
gloveDevice *	gloveDev
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.

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

• gloveServer_impl.h
• gloveServer_impl.cc