vrpn_3DMicroscribe.h

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#ifndef VRPN_3DMICROSCRIBE_H
#define VRPN_3DMICROSCRIBE_H
 
#include "vrpn_Button.h"                // for vrpn_Button_Filter
#include "vrpn_Configure.h"             // for VRPN_API
#include "vrpn_Connection.h"            // for vrpn_CONNECTION_LOW_LATENCY, etc
#include "vrpn_Shared.h"                // for timeval
#include "vrpn_Tracker.h"               // for vrpn_Tracker
#include "vrpn_Types.h"                 // for vrpn_uint32
 
class VRPN_API vrpn_3DMicroscribe: public vrpn_Tracker
            ,public vrpn_Button_Filter
{
  public:
    // Offset is in meters.  Scale is an abomination and should not be
    // used.  All tracker reports should be in meters in VRPN.
    vrpn_3DMicroscribe (const char * name, vrpn_Connection * c,
            const char * Port, long int BaudRate,
            float OffsetX = 0.0f, float OffsetY = 0.0f, float OffsetZ = 0.0f,
            float Scale=1.0f);
 
    ~vrpn_3DMicroscribe () {};

    virtual void mainloop ();
 
    virtual int reset(void);  
 
  protected:
      float m_OffSet[3];
      float m_Scale;
      int m_PortNumber; 
      long int m_BaudRate; 
 
 
    int _numbuttons;          
    unsigned char buf[512];   
    int bufpos;               
    struct timeval timestamp; 
 
    void ConvertOriToQuat(float ori[3]); //< directly put the values in the quat for message sending
    virtual void clear_values(void); 

    virtual int get_report(void);

        virtual void report_changes (vrpn_uint32 class_of_service
                    = vrpn_CONNECTION_LOW_LATENCY);

        virtual void report (vrpn_uint32 class_of_service
                    = vrpn_CONNECTION_LOW_LATENCY);
 
        // NOTE:  class_of_service is only applied to vrpn_Tracker
        //  values, not vrpn_Button, which are always vrpn_RELIABLE
};
 
#endif