Visual Servoing Platform  version 3.6.1 under development (2024-03-29)
vpMocapQualisys.h
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See https://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
25  * If you have questions regarding the use of this file, please contact
26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Motion capture using Qualisys device.
33  *
34 *****************************************************************************/
35 #ifndef vpMocapQualisys_h
36 #define vpMocapQualisys_h
37 
38 #include <visp3/core/vpConfig.h>
39 
40 #ifdef VISP_HAVE_QUALISYS
41 
42 #include <visp3/sensor/vpMocap.h>
43 
49 class VISP_EXPORT vpMocapQualisys : public vpMocap
50 {
51 public:
53  virtual ~vpMocapQualisys();
54 
55  void close();
56  bool connect();
57 
58  bool getBodiesPose(std::map<std::string, vpHomogeneousMatrix> &bodies_pose, bool all_bodies = false);
59  bool getSpecificBodyPose(const std::string &body_name, vpHomogeneousMatrix &body_pose);
60  void setServerAddress(const std::string &serverAddr);
61  void setVerbose(bool verbose);
62 
63 private:
64  vpMocapQualisys(const vpMocapQualisys &); // noncopyable
65  vpMocapQualisys &operator=(const vpMocapQualisys &); //
66 
67  class vpMocapQualisysImpl;
68  vpMocapQualisysImpl *m_impl;
69 };
70 
71 #endif
72 #endif // vpMocapQualisys_h
Implementation of an homogeneous matrix and operations on such kind of matrices.
virtual void setServerAddress(const std::string &serverAddr)
Definition: vpMocap.h:95
virtual bool getSpecificBodyPose(const std::string &body_name, vpHomogeneousMatrix &body_pose)=0
virtual void setVerbose(bool verbose)
Definition: vpMocap.h:101
virtual bool connect()=0
virtual void close()=0
virtual bool getBodiesPose(std::map< std::string, vpHomogeneousMatrix > &bodies_pose, bool all_bodies=false)=0