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

#include <visp3/sensor/vpMocapVicon.h>

+ Inheritance diagram for vpMocapVicon:

Public Member Functions

 vpMocapVicon ()
 
virtual ~vpMocapVicon ()
 
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

Vicon motion capture wrapper.

Examples:
testMocapVicon.cpp.

Definition at line 49 of file vpMocapVicon.h.

Constructor & Destructor Documentation

◆ vpMocapVicon()

vpMocapVicon::vpMocapVicon ( )

Default constructor that creates a direct client (not a multi-cast client).

Definition at line 211 of file vpMocapVicon.cpp.

◆ ~vpMocapVicon()

vpMocapVicon::~vpMocapVicon ( )
virtual

Destructor.

Definition at line 216 of file vpMocapVicon.cpp.

Member Function Documentation

◆ close()

void vpMocapVicon::close ( )
virtual

Close connexion with Vicon by stopping the capture.

Implements vpMocap.

Definition at line 221 of file vpMocapVicon.cpp.

◆ connect()

bool vpMocapVicon::connect ( )
virtual

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

Returns
true when connection succeed, false otherwise.

Implements vpMocap.

Examples:
testMocapVicon.cpp.

Definition at line 228 of file vpMocapVicon.cpp.

◆ getBodiesPose()

bool vpMocapVicon::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:
testMocapVicon.cpp.

Definition at line 237 of file vpMocapVicon.cpp.

◆ getSpecificBodyPose()

bool vpMocapVicon::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.

Implements vpMocap.

Examples:
testMocapVicon.cpp.

Definition at line 248 of file vpMocapVicon.cpp.

◆ setServerAddress()

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

Set mocap server address.

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

Reimplemented from vpMocap.

Examples:
testMocapVicon.cpp.

Definition at line 259 of file vpMocapVicon.cpp.

◆ setVerbose()

void vpMocapVicon::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:
testMocapVicon.cpp.

Definition at line 265 of file vpMocapVicon.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.