Visual Servoing Platform  version 3.5.1 under development (2022-08-17)
vpMocapQualisys Class Reference

#include <visp3/sensor/vpMocapQualisys.h>

+ Inheritance diagram for vpMocapQualisys:

Public Member Functions

 vpMocapQualisys ()
 
virtual ~vpMocapQualisys ()
 
void close ()
 
bool connect ()
 
bool getBodiesPose (std::map< std::string, vpHomogeneousMatrix > &bodies_pose, bool all_bodies=false)
 
bool getSpecificBodyPose (const std::string &body_name, vpHomogeneousMatrix &body_pose)
 
void setServerAddress (const std::string &serverAddr)
 
void setVerbose (bool verbose)
 

Protected Attributes

bool m_verbose
 
std::string m_serverAddr
 

Detailed Description

Qualisys motion capture wrapper.

Examples:
testMocapQualisys.cpp.

Definition at line 49 of file vpMocapQualisys.h.

Constructor & Destructor Documentation

◆ vpMocapQualisys()

vpMocapQualisys::vpMocapQualisys ( )

Default constructor.

Definition at line 251 of file vpMocapQualisys.cpp.

◆ ~vpMocapQualisys()

vpMocapQualisys::~vpMocapQualisys ( )
virtual

Destructor.

Definition at line 256 of file vpMocapQualisys.cpp.

Member Function Documentation

◆ close()

void vpMocapQualisys::close ( )
virtual

Close connexion with Qualisys by stopping the capture.

Implements vpMocap.

Definition at line 261 of file vpMocapQualisys.cpp.

◆ connect()

bool vpMocapQualisys::connect ( )
virtual

Connect to Qualisys mocap server with IP address set using setServerAddress().

Returns
true when connection succeed, false otherwise.

Implements vpMocap.

Examples:
testMocapQualisys.cpp.

Definition at line 268 of file vpMocapQualisys.cpp.

◆ getBodiesPose()

bool vpMocapQualisys::getBodiesPose ( std::map< std::string, vpHomogeneousMatrix > &  bodies_pose,
bool  all_bodies = false 
)
virtual

Gets the pose of the different bodies.

Parameters
[out]bodies_pose: Map of body names and corresponding poses.
[in]all_bodies: When true, consider all bodies, even those that are not visible and that contain nan in their pose.
Returns
true if the operation was successful.

Implements vpMocap.

Examples:
testMocapQualisys.cpp.

Definition at line 277 of file vpMocapQualisys.cpp.

◆ getSpecificBodyPose()

bool vpMocapQualisys::getSpecificBodyPose ( const std::string &  body_name,
vpHomogeneousMatrix body_pose 
)
virtual

Gets the pose of a specific body.

Parameters
[out]body_pose: The homogeneous transformation matrix for the specific body.
[in]body_name: The name of the body.
Returns
true if the operation was successful, false otherwise.

Implements vpMocap.

Examples:
testMocapQualisys.cpp.

Definition at line 288 of file vpMocapQualisys.cpp.

◆ setServerAddress()

void vpMocapQualisys::setServerAddress ( const std::string &  serverAddr)
virtual

Set mocap server address.

Parameters
[in]serverAddr: Server address.
See also
connect()

Reimplemented from vpMocap.

Examples:
testMocapQualisys.cpp.

Definition at line 298 of file vpMocapQualisys.cpp.

◆ setVerbose()

void vpMocapQualisys::setVerbose ( bool  verbose)
virtual

Enable or disable verbose mode.

Parameters
[in]verbose: When true enable verbose mode, otherwise disable verbose mode.

Reimplemented from vpMocap.

Examples:
testMocapQualisys.cpp.

Definition at line 304 of file vpMocapQualisys.cpp.

Member Data Documentation

◆ m_serverAddr

std::string vpMocap::m_serverAddr
protectedinherited

Definition at line 105 of file vpMocap.h.

◆ m_verbose

bool vpMocap::m_verbose
protectedinherited

Definition at line 104 of file vpMocap.h.