Visual Servoing Platform  version 3.5.1 under development (2022-12-02)
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.